public void Motordirection(App.DIRECTION d)
{
if (!bStop)
{
SetMotorDirection(d);
}
}
private void SetMotorDirection(App.DIRECTION d)
{
//first stop the motors, change direction and then start the motors
pwmMotorLeft.Stop();
pwmMotorRight.Stop();
switch (d)
{
case App.DIRECTION.FORWARD:
//Both Motors in the same direction - Forward
MotorLeftNegative.Write(GpioPinValue.Low);
MotorLeftPositive.Write(GpioPinValue.High);
MotorRightNegative.Write(GpioPinValue.Low);
MotorRightPositive.Write(GpioPinValue.High);
break;
case App.DIRECTION.REVERSE:
//Both Motors in the same direction but Reverse
MotorLeftNegative.Write(GpioPinValue.High);
MotorLeftPositive.Write(GpioPinValue.Low);
MotorRightNegative.Write(GpioPinValue.High);
MotorRightPositive.Write(GpioPinValue.Low);
break;
case App.DIRECTION.LEFT:
//One of the Motor is in the reverse, while the other forward - Friction turn
MotorLeftNegative.Write(GpioPinValue.Low);
MotorLeftPositive.Write(GpioPinValue.High); //Left Motor Forward
MotorRightNegative.Write(GpioPinValue.High);
MotorRightPositive.Write(GpioPinValue.Low); //Right Motor Reverse
break;
case App.DIRECTION.RIGHT:
//One of the Motor is in the reverse, while the other forward - Friction turn
MotorLeftNegative.Write(GpioPinValue.High);
MotorLeftPositive.Write(GpioPinValue.Low);
MotorRightNegative.Write(GpioPinValue.Low);
MotorRightPositive.Write(GpioPinValue.High);
break;
}
pwmMotorLeft.Start();
pwmMotorRight.Start();
}
