private void Initialize()
{
var spiSocket = GT.Socket.GetSocket(10, true, null, null);
var pwmSocket = GT.Socket.GetSocket(11, true, null, null);
var analogSocket = GT.Socket.GetSocket(12, true, null, null);
this.forwardLEDs = GTI.SpiFactory.Create(spiSocket, new GTI.SpiConfiguration(false, 0, 0, false, true, 2000), GTI.SpiSharing.Shared, spiSocket, GT.Socket.Pin.Six, null);
this.leftIRLED = GTI.DigitalOutputFactory.Create(spiSocket, GT.Socket.Pin.Three, true, null);
this.rightIRLED = GTI.DigitalOutputFactory.Create(spiSocket, GT.Socket.Pin.Four, true, null);
this.leftMotorDirection = GTI.DigitalOutputFactory.Create(pwmSocket, GT.Socket.Pin.Three, false, null);
this.rightMotorDirection = GTI.DigitalOutputFactory.Create(pwmSocket, GT.Socket.Pin.Four, false, null);
this.leftMotor = GTI.PwmOutputFactory.Create(pwmSocket, GT.Socket.Pin.Seven, false, null);
this.rightMotor = GTI.PwmOutputFactory.Create(pwmSocket, GT.Socket.Pin.Eight, false, null);
this.servo = GTI.PwmOutputFactory.Create(pwmSocket, GT.Socket.Pin.Nine, false, null);
this.buzzer = GTI.PwmOutputFactory.Create(analogSocket, GT.Socket.Pin.Seven, false, null);
this.enableFaderPin = GTI.PwmOutputFactory.Create(analogSocket, GT.Socket.Pin.Eight, true, null);
this.leftSensor = GTI.AnalogInputFactory.Create(analogSocket, GT.Socket.Pin.Three, null);
this.rightSensor = GTI.AnalogInputFactory.Create(analogSocket, GT.Socket.Pin.Four, null);
this.leftMotor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0);
this.rightMotor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0);
this.enableFaderPin.Set(2000, 1.0);
this.leftMotorInverted = false;
this.rightMotorInverted = false;
this.servoConfigured = false;
this.SetLedBitmask(0x00);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public LightSense(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('A', this);
this.input = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Three, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public CurrentACS712(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('A', this);
this.input = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Five, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public GasSense(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('A', this);
this.input = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Three, this);
this.enable = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Four, false, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public ReflectorR3(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
this.left = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Three, this);
this.center = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Four, this);
this.right = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Five, this);
this.centerSwitch = GTI.DigitalOutputFactory.Create(socket, Socket.Pin.Six, true, this);
}
private double Read(GTI.AnalogInput input)
{
double total = 0;
for (int i = 0; i < this.samples; i++)
{
total += input.ReadProportion();
}
return(total / this.samples);
}
// Note: A constructor summary is auto-generated by the doc builder.
/// <summary></summary>
/// <param name="socketNumber">The socket that this module is plugged in to.</param>
public AD8495Thermocouple(int socketNumber)
{
Offset = 0;
// This finds the Socket instance from the user-specified socket number.
// This will generate user-friendly error messages if the socket is invalid.
// If there is more than one socket on this module, then instead of "null" for the last parameter,
// put text that identifies the socket to the user (e.g. "S" if there is a socket type S)
var socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('A', this);
_input = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Four, this);
}
/// <summary>Constructs a new instance.</summary>
/// <param name="socketNumber">The mainboard socket that has the module plugged into it.</param>
public Joystick(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('A', this);
this.inputX = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Four, this);
this.inputY = GTI.AnalogInputFactory.Create(socket, Socket.Pin.Five, this);
this.input = GTI.InterruptInputFactory.Create(socket, GT.Socket.Pin.Three, GTI.GlitchFilterMode.On, GTI.ResistorMode.PullUp, GTI.InterruptMode.RisingAndFallingEdge, this);
this.input.Interrupt += (a, b) => this.OnJoystickEvent(this, b ? ButtonState.Released : ButtonState.Pressed);
this.offsetX = 0;
this.offsetY = 0;
this.samples = 5;
}
