public InteropI2CBus(GT.Socket socket, GT.Socket.Pin sdaPin, GT.Socket.Pin sclPin, ushort address, int clockRateKHz, GTM.Module module)
{
this.sdaPin = socket.CpuPins[(int)sdaPin];
this.sclPin = socket.CpuPins[(int)sclPin];
this.Address = address;
this.ClockRateKHz = clockRateKHz;
}
public InteropI2CBus(GT.Socket socket, GT.Socket.Pin sdaPin, GT.Socket.Pin sclPin, ushort address, int clockRateKHz, GTM.Module module)
{
this.Address = address;
this.ClockRateKHz = clockRateKHz;
this.softwareBus = new SoftwareI2CBus(socket.CpuPins[(int)sclPin], socket.CpuPins[(int)sdaPin]);
}
bool NativeI2CWriteRead(int SocketNumber, GT.Socket.Pin sda, GT.Socket.Pin scl, byte address, byte[] write, int writeOffset, int writeLen, byte[] read, int readOffset, int readLen, out int numWritten, out int numRead)
{
// implement this method if you support NativeI2CWriteRead for faster DaisyLink performance
// otherwise, the DaisyLink I2C interface will be supported in Gadgeteer.dll in managed code.
numRead = 0;
numWritten = 0;
return(false);
}
bool NativeI2CWriteRead(GT.Socket socket, GT.Socket.Pin sda, GT.Socket.Pin scl, byte address, byte[] write, int writeOffset, int writeLen, byte[] read, int readOffset, int readLen, out int numWritten, out int numRead)
{
// implement this method if you support NativeI2CWriteRead for faster DaisyLink performance
// otherwise, the DaisyLink I2C interface will be supported in Gadgeteer.dll in managed code.
return(GHI.OSHW.Hardware.SoftwareI2CBus.DirectI2CWriteRead(socket.CpuPins[(int)scl], socket.CpuPins[(int)sda], 100, address, write, writeOffset, writeLen, read, readOffset, readLen, out numWritten, out numRead));
//numRead = 0;
//numWritten = 0;
//return false;
}
public RoboticArmController(Extender extender, GT.Socket.Pin clawPin, GT.Socket.Pin armPin, uint pwmPulsePeriod)
{
if (extender == null)
{
throw new ApplicationException("robotic arm pwm extender not set up correctly");
}
_pwmPulsePeriod = pwmPulsePeriod;
_clawPwm = extender.SetupPWMOutput(clawPin);
_armPwm = extender.SetupPWMOutput(armPin);
Reset();
}
public Lighting(Extender extender, GT.Socket.Pin pin, int frequency, float lowLightDutyCycle, float overheadDutyCycle, float nightDutyCycle)
{
this.extender = extender;
this.frequency = frequency;
this.lowLight = lowLightDutyCycle;
this.overhead = overheadDutyCycle;
this.night = nightDutyCycle;
//asign the pin for pwm
PwmOutput pwm = extender.CreatePwmOutput(pin);
//thread that loops changing the light output per time of day
Thread thread = new Thread(() => PwmThread(pwm));
thread.Start();
}
bool NativeI2CWriteRead(GT.Socket socket, GT.Socket.Pin sda, GT.Socket.Pin scl, byte address, byte[] write, int writeOffset, int writeLen, byte[] read, int readOffset, int readLen, out int numWritten, out int numRead)
{
return(SoftwareI2CBus.DirectI2CWriteRead(socket.CpuPins[(int)scl], socket.CpuPins[(int)sda], 100, address, write, writeOffset, writeLen, read, readOffset, readLen, out numWritten, out numRead));
}
