static Motors()
{
PWM.SetDesiredFrequency(6000);
M1PWM = PWM.OpenChannel(FEZ.PwmChannel.Controller3.D9);
M1PWM.Stop();
M1PWM.SetActiveDutyCyclePercentage(0.1);
M1PWM.Start();
M2PWM = PWM.OpenChannel(FEZ.PwmChannel.Controller3.D10);
M2PWM.Stop();
M2PWM.SetActiveDutyCyclePercentage(0.1);
M2PWM.Start();
M1DIR = GpioController.GetDefault().OpenPin(FEZ.GpioPin.D7);
M1DIR.SetDriveMode(GpioPinDriveMode.Output);
M1DIR.Write(GpioPinValue.High);
M2DIR = GpioController.GetDefault().OpenPin(FEZ.GpioPin.D8);
M2DIR.Write(GpioPinValue.High);
M2DIR.SetDriveMode(GpioPinDriveMode.Output);
}
public static void Move(double LeftSpeed, double RightSpeed)
{
if (RightSpeed < 0)
{
M1DIR.Write(GpioPinValue.High);
}
else
{
M1DIR.Write(GpioPinValue.Low);
}
if (LeftSpeed < 0)
{
M2DIR.Write(GpioPinValue.High);
}
else
{
M2DIR.Write(GpioPinValue.Low);
}
M1PWM.SetActiveDutyCyclePercentage(Math.Abs(RightSpeed) / 100);
M2PWM.SetActiveDutyCyclePercentage(Math.Abs(LeftSpeed) / 100);
}
