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 Tunes(int socketNumber)
{
Socket socket = Socket.GetSocket(socketNumber, true, this, null);
socket.EnsureTypeIsSupported('P', this);
this.pwm = GTI.PwmOutputFactory.Create(socket, Socket.Pin.Nine, false, this);
this.playlist = new Queue();
this.syncRoot = new object();
}
private void SetSpeed(GTI.PwmOutput motor, GTI.DigitalOutput direction, int speed, bool isLeft)
{
if (speed == 0)
{
direction.Write(false);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, 0.01);
}
else if (speed < 0)
{
direction.Write(isLeft ? true : false);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, speed / -100.0);
}
else
{
direction.Write(isLeft ? false : true);
motor.Set(FEZCerbot.MOTOR_BASE_FREQUENCY, speed / 100.0);
}
}
