private void TestLibrary()
{
IPwmManager manager = PwmManagerFactory.Instance;
int[] controllers = manager.GetPwmControllers();
if (controllers == null)
{
Log.Error(TAG, "Error getting controllers");
return;
}
foreach (int controller in controllers)
{
Log.Info(TAG, "Found PWM controller " + controller);
}
int[] controllerchannels = manager.GetPwmChannels(1);
Log.Info(TAG, "Controller 1 has " + controllerchannels.Length + " channels");
IPwm pwm = manager.Open(1, 0);
Log.Info(TAG, "pwm 1:0 is " + pwm.Enabled);
pwm.FrequencyHz = 120;
Log.Info(TAG, "pwm 1:0 frequency: " + pwm.FrequencyHz + " HZ");
pwm.Enabled = true;
Log.Info(TAG, "pwm 1:0 is " + pwm.Enabled);
pwm.DutyCycle = 50;
Log.Info(TAG, "pwm 1:0 duty cycle: " + pwm.DutyCycle + "%");
pwm.Polarity = PwmPolarity.PolarityNormal;
Log.Info(TAG, "pwm 1:0 polarity is " + pwm.Polarity);
}
public HBridgeMotor (IPwm pwm = null)
{
CalibrationInput = AddInput ("CalibrationInput", Units.Ratio, 1);
SpeedInput = AddInput ("SpeedInput", Units.Ratio, 0);
IsNeutralInput = AddInput ("IsNeutralInput", Units.Boolean, 0);
A1Output = AddOutput ("A1Output", Units.Digital, 0);
A2Output = AddOutput ("A2Output", Units.Digital, 0);
PwmFrequencyOutput = AddOutput ("PwmFrequencyOutput", Units.Frequency, DefaultFrequency);
PwmDutyCycleOutput = AddOutput ("PwmDutyCycleOutput", Units.Ratio, SpeedInput.Value);
// This is a direct connection.
SpeedInput.ValueChanged += (s, e) => Update ();
IsNeutralInput.ValueChanged += (s, e) => Update ();
if (pwm != null) {
PwmFrequencyOutput.ConnectTo (pwm.FrequencyInput);
PwmDutyCycleOutput.ConnectTo (pwm.DutyCycleInput);
}
}
public HBridgeMotor(IPwm pwm = null)
{
CalibrationInput = AddInput("CalibrationInput", Units.Ratio, 1);
SpeedInput = AddInput("SpeedInput", Units.Ratio, 0);
IsNeutralInput = AddInput("IsNeutralInput", Units.Boolean, 0);
A1Output = AddOutput("A1Output", Units.Digital, 0);
A2Output = AddOutput("A2Output", Units.Digital, 0);
PwmFrequencyOutput = AddOutput("PwmFrequencyOutput", Units.Frequency, DefaultFrequency);
PwmDutyCycleOutput = AddOutput("PwmDutyCycleOutput", Units.Ratio, SpeedInput.Value);
// This is a direct connection.
SpeedInput.ValueChanged += (s, e) => Update();
IsNeutralInput.ValueChanged += (s, e) => Update();
if (pwm != null)
{
PwmFrequencyOutput.ConnectTo(pwm.FrequencyInput);
PwmDutyCycleOutput.ConnectTo(pwm.DutyCycleInput);
}
}
public ServoController(IPwm pwmPin)
{
Pin = pwmPin;
}
public ServoController(IPwm pwmPin)
{
Pin = pwmPin;
}