/// <summary>
/// Sets the speed at which the DC Motor rotates.
/// </summary>
/// <param name="speed">A value between -1 and 1.</param>
public static void SetSpeed(double speed)
{
if ((speed > 1 | speed < -1))
{
throw new ArgumentOutOfRangeException("speed", "speed must be between -1 and 1.");
}
if ((speed == 1.0))
{
speed = 0.99;
}
if ((speed == -1.0))
{
speed = -0.99;
}
if ((_started))
{
_pwm.Stop();
}
_pwm.DutyCycle = speed;
_pwm.Start();
_started = true;
}
/// <summary>
/// Play a frequency for a specified duration
/// </summary>
/// <param name="frequency">The frequency in hertz of the tone to be played</param>
/// <param name="duration">How long the note is played in milliseconds, if durration is 0, tone plays indefinitely</param>
public void PlayTone(float frequency, int duration = 0)
{
if (frequency <= 0)
{
throw new System.Exception("frequency must be greater than 0");
}
if (!_isPlaying)
{
_isPlaying = true;
var period = (uint)(1000000 / frequency);
_pwm.Period = period;
_pwm.Duration = period / 2;
_pwm.Start();
if (duration > 0)
{
Thread.Sleep(duration);
_pwm.Stop();
}
_isPlaying = false;
}
}
public static void Main()
{
AnalogInput capt = new AnalogInput((Cpu.AnalogChannel)Cpu.AnalogChannel.ANALOG_0);
OutputPort dir = new OutputPort(FEZSpider.Socket8.Pin9, true);
InputPort microswitch = new InputPort(FEZSpider.Socket4.Pin3, false, Port.ResistorMode.PullDown);
double frequence = 38000; // Période en microseconde
double rapportCyclique = 0.5; // Période en microseconde
PWM motorDriver = new PWM(FEZSpider.Socket8.Pwm7, frequence, rapportCyclique, false);
motorDriver.Stop();
while (true)
{
if (microswitch.Read())
{
motorDriver.Stop();
}
Debug.Print("Distance : " + capt.Read().ToString());
Debug.Print(microswitch.Read().ToString());
Thread.Sleep(50);
}
}
/// <summary>
/// Sets the frequency and duty cycle of the <see cref="PWMOutput"/> interface and starts the PWM signal.
/// </summary>
/// <param name="frequency">Required frequency in Hertz.</param>
/// <param name="dutyCycle">Duty cycle from 0-1.</param>
public void Set(int frequency, double dutyCycle)
{
if (frequency < 0)
{
throw new ArgumentException("frequency");
}
if (dutyCycle < 0 || dutyCycle > 1)
{
throw new ArgumentException("dutyCycle");
}
if (pwm == null)
{
pwm = new PWM(pwmChannel, frequency, dutyCycle, invert);
pwm.Start();
started = true;
}
else
{
if (started)
{
pwm.Stop();
}
pwm.Frequency = frequency;
pwm.DutyCycle = dutyCycle;
pwm.Start();
started = true;
}
}
private void SetTone(Tone tone)
{
_buzzPwm.Stop();
if (Math.Abs(tone.Freq) < Double.Epsilon)
{
return;
}
_buzzPwm.Frequency = ((int)tone.Freq);
_buzzPwm.DutyCycle = 0.5;
_buzzPwm.Start();
}
public void Play(int freq_Hz, int duration_mSec)
{
myPWM.Stop();
if (freq_Hz != 0)
{
myPWM.Frequency = freq_Hz;
myPWM.Start();
}
Thread.Sleep(duration_mSec);
myPWM.Stop();
Thread.Sleep(tempo / 2);
}
public void go_clockwise_one_tick()
{
servo.Duration = (uint)1300;
servo.Start();
Thread.Sleep(20);
servo.Stop();
Thread.Sleep(200);
_rightTicksTaken++;
// Debug.Print("Right ticks taken " + _rightTicksTaken);
// Debug.Print("Total Tick count: " + get_ticks());
}
void allarm_Tick(GT.Timer timer)
{
if (!StopAllarm)
{
buzzer.Frequency = 500;
Thread.Sleep(200);
buzzer.Frequency = 1000;
Thread.Sleep(200);
}
if (StopAllarm)
{
buzzer.Stop();
}
}
public static void Rick()
{
PWM myPWM = new PWM(FEZSpiderII.Socket11.Pwm9, frequence, 0.5, false);
myPWM.Start();
myPWM.Frequency = Fa;
Thread.Sleep(750);
myPWM.Frequency = Sol;
Thread.Sleep(750);
myPWM.Frequency = Do;
Thread.Sleep(500);
myPWM.Frequency = Sol;
Thread.Sleep(750);
myPWM.Frequency = La;
Thread.Sleep(750);
myPWM.Frequency = Do1;
Thread.Sleep(180);
myPWM.Frequency = Sib;
Thread.Sleep(180);
myPWM.Frequency = La;
Thread.Sleep(300);
myPWM.Frequency = Fa;
Thread.Sleep(750);
myPWM.Frequency = Sol;
Thread.Sleep(750);
myPWM.Frequency = Do;
Thread.Sleep(1000);
myPWM.Stop();
}
private void SetSpeed(PWM motor, OutputPort direction, int speed, bool isLeft)
{
motor.Stop();
motor.Frequency = MOTOR_BASE_FREQUENCY;
if (speed == 0)
{
direction.Write(false);
motor.DutyCycle = 0.01;
}
else if (speed < 0)
{
direction.Write(isLeft ? true : false);
motor.DutyCycle = speed / -100.0;
motor.Start();
}
else
{
direction.Write(isLeft ? false : true);
motor.DutyCycle = speed / 100.0;
motor.Start();
}
}
public void Disable()
{
if (controller != null)
{
controller.Stop();
}
}
/// <summary>
/// Stops the Servo Motor.
/// </summary>
public static void Deacticvate()
{
if (_started)
{
_pwm.Stop();
_started = false;
}
}
/// <summary>
/// Stops the buzzer from playing.
/// </summary>
public static void Stop()
{
if (_started)
{
_pwm.Stop();
_started = false;
}
}
protected override void ActuatorCleanup()
{
if (_piezo == null)
{
return;
}
_piezo.Stop();
_piezo.Dispose();
}
void UpdateMotors(float motorLeftValue, float motorRightValue)
{
motorPwmLeft.Stop();
motorPwmRight.Stop();
motorPwmLeft.DutyCycle = motorLeftValue;
motorPwmRight.DutyCycle = motorRightValue;
motorPwmLeft.Start();
motorPwmRight.Start();
}
protected override void ActuatorCleanup()
{
if (_servoMotor == null)
{
return;
}
_servoMotor.DutyCycle = 0;
_servoMotor.Stop();
_servoMotor.Dispose();
}
/// <summary>
/// Moves the motor in the specified direction.
/// </summary>
/// <param name="direction">The direction : forward or backward.</param>
/// <param name="speed">The speed, from 0.0 to 1.0 (100%)</param>
/// <param name="rampTime">The ramp time if needed, in milliseconds. It's the time that will be taken to start from speed 0.0 to "Speed".</param>
/// <example>
/// <code language="C#">
/// // Moves the motor forward with a ramptime to full speed of 2 sec
/// _motor.Move(DCMotorClick.Directions.Forward, 1.0, 2000);
/// </code>
/// </example>
public void Move(Directions direction, Double speed = 1.0, Int32 rampTime = 0)
{
if (IsMoving)
{
_pwmOut.Stop(); Thread.Sleep(200);
}
_select2.Write(direction == Directions.Backward);
if (rampTime == 0)
{
_pwmOut.DutyCycle = speed; IsMoving = true; _pwmOut.Start();
}
else
{
_rampIncrement = (Int32)(speed / 0.05);
_rampWaitTime = (Int32)(rampTime * 0.05 / speed);
IsMoving = true;
new Thread(RampUp).Start();
}
}
static void TestPWM()
{
var pin = HardwareProvider.HwProvider.GetPwmPinForChannel(Cpu.PWMChannel.PWM_0);
Debug.Print("PwmPinForChannel:" + pin);
var count = HardwareProvider.HwProvider.GetPWMChannelsCount();
Debug.Print("PWMChannelsCount:" + count);
//如果通道共用同一时钟，则周期以第一个的设置为准
var pwm0 = new PWM(Cpu.PWMChannel.PWM_0, 500, 250, PWM.ScaleFactor.Microseconds, false);
// 可以得到稳定的1M输出，注意调整逻辑分析仪的采样频率
//var pwm1 = new PWM(Cpu.PWMChannel.PWM_4, 1000000, 0.5, false);
var pwm1 = new PWM(Cpu.PWMChannel.PWM_4, 2, 1, PWM.ScaleFactor.Microseconds, false);
Debug.Print("Period:" + pwm0.Period);
Debug.Print("Duration:" + pwm0.Duration);
var led = new OutputPort(ledPins[0], true);
for (uint i = 1; i < 100; i++)
{
led.Write(!led.Read());
Debug.Print("pwm0 Start");
//pwm0.Duration = 5;
pwm0.Start();
Thread.Sleep(500);
Debug.Print("pwm0 Stop");
pwm0.Stop();
Debug.Print("pwm1 Start");
//pwm1.Duration = i;
pwm1.Start();
Thread.Sleep(500);
Debug.Print("pwm1 Stop");
pwm1.Stop();
Thread.Sleep(300);
}
//pwm1.Start();
while (true)
{
var b = led.Read();
led.Write(!b);
Thread.Sleep(100);
}
//pwm0.Stop();
//pwm1.Stop();
}
// -------------------------------- Sensori -------------------------------- //
private void InitSensors()
{
Mainboard.SetDebugLED(true);
Gadgeteer.Socket socket = Gadgeteer.Socket.GetSocket(8, true, null, null);
buzzer = new PWM(Cpu.PWMChannel.PWM_4, 1000, 0.5, false);
buzzer.Stop();
orizzontal_mov = extender.CreatePwmOutput(Gadgeteer.Socket.Pin.Seven);
vertical_mov = extender.CreatePwmOutput(Gadgeteer.Socket.Pin.Nine);
current_orizzontal_pos = 0.075;
current_vertical_pos = 0.075;
orizzontal_mov.Set(50, current_orizzontal_pos);
Thread.Sleep(2000);
vertical_mov.Set(50, current_vertical_pos);
}
public static void SendBit(PWM infraredOut, char c)
{
if (c == '1')
{
var startTime = DateTime.Now;
infraredOut.Start();
while (startTime.AddMilliseconds(sleep) > DateTime.Now)
{
}
infraredOut.Stop();
}
else
{
var startTime = DateTime.Now;
while (startTime.AddMilliseconds(sleep) > DateTime.Now)
{
}
startTime = DateTime.Now;
}
}
public static void SendBit(PWM infraredOut, OutputPort led, char c)
{
if (c == '1')
{
var startTime = DateTime.Now;
infraredOut.Start();
while (startTime.AddMilliseconds(200) > DateTime.Now)
{
led.Write(true);
//noop
}
infraredOut.Stop();
}
else
{
var startTime = DateTime.Now;
while (startTime.AddMilliseconds(200) > DateTime.Now)
{
led.Write(false);
//noop
}
startTime = DateTime.Now;
}
}
public static void Main()
{
// Create a PWM signal on Pin 3 @ 1000Hz and a 50% duty cycle
PWM dutyCyclePwm = new PWM(PWMChannels.PWM_PIN_D3, 1000, .5, false);
// note that only certain pins support PWM. the PWMChannels enumeration
// lists the ones that do.
// Create a PWM signal on the onboard LED by specifying the period and duration
// in milliseconds. this will be a 33% duty cycle (on 1/3rd of the time)
PWM periodDurationPwm = new PWM(PWMChannels.PWM_ONBOARD_LED,
3, 1, PWM.ScaleFactor.Milliseconds, false);
// alternate between the 50% duty cycle and the 33% duty cycle every second
while (true)
{
dutyCyclePwm.Start();
Thread.Sleep(1000);
dutyCyclePwm.Stop();
periodDurationPwm.Start();
Thread.Sleep(1000);
periodDurationPwm.Stop();
}
}
private static void InitialiseLeds()
{
RedLedDutyCyclePwm.Stop();
YellowLedDutyCyclePwm.Stop();
GreenLedDutyCyclePwm.Stop();
}
public void Stop()
{
ThrowIfDisposed();
_pwm.Stop();
_isActive = false;
}
public static void Main()
{
var songs = new[]
{
"The Simpsons:d=4,o=5,b=160:c.6,e6,f#6,8a6,g.6,e6,c6,8a,8f#,8f#,8f#,2g,8p,8p,8f#,8f#,8f#,8g,a#.,8c6,8c6,8c6,c6"
,
"Indiana:d=4,o=5,b=250:e,8p,8f,8g,8p,1c6,8p.,d,8p,8e,1f,p.,g,8p,8a,8b,8p,1f6,p,a,8p,8b,2c6,2d6,2e6,e,8p,8f,8g,8p,1c6,p,d6,8p,8e6,1f.6,g,8p,8g,e.6,8p,d6,8p,8g,e.6,8p,d6,8p,8g,f.6,8p,e6,8p,8d6,2c6"
,
"TakeOnMe:d=4,o=4,b=160:8f#5,8f#5,8f#5,8d5,8p,8b,8p,8e5,8p,8e5,8p,8e5,8g#5,8g#5,8a5,8b5,8a5,8a5,8a5,8e5,8p,8d5,8p,8f#5,8p,8f#5,8p,8f#5,8e5,8e5,8f#5,8e5,8f#5,8f#5,8f#5,8d5,8p,8b,8p,8e5,8p,8e5,8p,8e5,8g#5,8g#5,8a5,8b5,8a5,8a5,8a5,8e5,8p,8d5,8p,8f#5,8p,8f#5,8p,8f#5,8e5,8e5"
,
"Entertainer:d=4,o=5,b=140:8d,8d#,8e,c6,8e,c6,8e,2c.6,8c6,8d6,8d#6,8e6,8c6,8d6,e6,8b,d6,2c6,p,8d,8d#,8e,c6,8e,c6,8e,2c.6,8p,8a,8g,8f#,8a,8c6,e6,8d6,8c6,8a,2d6"
,
"Muppets:d=4,o=5,b=250:c6,c6,a,b,8a,b,g,p,c6,c6,a,8b,8a,8p,g.,p,e,e,g,f,8e,f,8c6,8c,8d,e,8e,8e,8p,8e,g,2p,c6,c6,a,b,8a,b,g,p,c6,c6,a,8b,a,g.,p,e,e,g,f,8e,f,8c6,8c,8d,e,8e,d,8d,c"
,
"Xfiles:d=4,o=5,b=125:e,b,a,b,d6,2b.,1p,e,b,a,b,e6,2b.,1p,g6,f#6,e6,d6,e6,2b.,1p,g6,f#6,e6,d6,f#6,2b.,1p,e,b,a,b,d6,2b.,1p,e,b,a,b,e6,2b.,1p,e6,2b."
,
"Looney:d=4,o=5,b=140:32p,c6,8f6,8e6,8d6,8c6,a.,8c6,8f6,8e6,8d6,8d#6,e.6,8e6,8e6,8c6,8d6,8c6,8e6,8c6,8d6,8a,8c6,8g,8a#,8a,8f"
,
"20thCenFox:d=16,o=5,b=140:b,8p,b,b,2b,p,c6,32p,b,32p,c6,32p,b,32p,c6,32p,b,8p,b,b,b,32p,b,32p,b,32p,b,32p,b,32p,b,32p,b,32p,g#,32p,a,32p,b,8p,b,b,2b,4p,8e,8g#,8b,1c#6,8f#,8a,8c#6,1e6,8a,8c#6,8e6,1e6,8b,8g#,8a,2b"
,
"Bond:d=4,o=5,b=80:32p,16c#6,32d#6,32d#6,16d#6,8d#6,16c#6,16c#6,16c#6,16c#6,32e6,32e6,16e6,8e6,16d#6,16d#6,16d#6,16c#6,32d#6,32d#6,16d#6,8d#6,16c#6,16c#6,16c#6,16c#6,32e6,32e6,16e6,8e6,16d#6,16d6,16c#6,16c#7,c.7,16g#6,16f#6,g#.6"
,
"MASH:d=8,o=5,b=140:4a,4g,f#,g,p,f#,p,g,p,f#,p,2e.,p,f#,e,4f#,e,f#,p,e,p,4d.,p,f#,4e,d,e,p,d,p,e,p,d,p,2c#.,p,d,c#,4d,c#,d,p,e,p,4f#,p,a,p,4b,a,b,p,a,p,b,p,2a.,4p,a,b,a,4b,a,b,p,2a.,a,4f#,a,b,p,d6,p,4e.6,d6,b,p,a,p,2b"
,
"StarWars:d=4,o=5,b=45:32p,32f#,32f#,32f#,8b.,8f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32e6,8c#.6,32f#,32f#,32f#,8b.,8f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32e6,8c#6"
,
"GoodBad:d=4,o=5,b=56:32p,32a#,32d#6,32a#,32d#6,8a#.,16f#.,16g#.,d#,32a#,32d#6,32a#,32d#6,8a#.,16f#.,16g#.,c#6,32a#,32d#6,32a#,32d#6,8a#.,16f#.,32f.,32d#.,c#,32a#,32d#6,32a#,32d#6,8a#.,16g#.,d#"
,
"TopGun:d=4,o=4,b=31:32p,16c#,16g#,16g#,32f#,32f,32f#,32f,16d#,16d#,32c#,32d#,16f,32d#,32f,16f#,32f,32c#,16f,d#,16c#,16g#,16g#,32f#,32f,32f#,32f,16d#,16d#,32c#,32d#,16f,32d#,32f,16f#,32f,32c#,g#"
,
"A-Team:d=8,o=5,b=125:4d#6,a#,2d#6,16p,g#,4a#,4d#.,p,16g,16a#,d#6,a#,f6,2d#6,16p,c#.6,16c6,16a#,g#.,2a#"
,
"Flinstones:d=4,o=5,b=40:32p,16f6,16a#,16a#6,32g6,16f6,16a#.,16f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c6,d6,16f6,16a#.,16a#6,32g6,16f6,16a#.,32f6,32f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c6,a#,16a6,16d.6,16a#6,32a6,32a6,32g6,32f#6,32a6,8g6,16g6,16c.6,32a6,32a6,32g6,32g6,32f6,32e6,32g6,8f6,16f6,16a#.,16a#6,32g6,16f6,16a#.,16f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c.6,32d6,32d#6,32f6,16a#,16c.6,32d6,32d#6,32f6,16a#6,16c7,8a#.6"
,
"Jeopardy:d=4,o=6,b=125:c,f,c,f5,c,f,2c,c,f,c,f,a.,8g,8f,8e,8d,8c#,c,f,c,f5,c,f,2c,f.,8d,c,a#5,a5,g5,f5,p,d#,g#,d#,g#5,d#,g#,2d#,d#,g#,d#,g#,c.7,8a#,8g#,8g,8f,8e,d#,g#,d#,g#5,d#,g#,2d#,g#.,8f,d#,c#,c,p,a#5,p,g#.5,d#,g#"
,
"Gadget:d=16,o=5,b=50:32d#,32f,32f#,32g#,a#,f#,a,f,g#,f#,32d#,32f,32f#,32g#,a#,d#6,4d6,32d#,32f,32f#,32g#,a#,f#,a,f,g#,f#,8d#"
,
"Smurfs:d=32,o=5,b=200:4c#6,16p,4f#6,p,16c#6,p,8d#6,p,8b,p,4g#,16p,4c#6,p,16a#,p,8f#,p,8a#,p,4g#,4p,g#,p,a#,p,b,p,c6,p,4c#6,16p,4f#6,p,16c#6,p,8d#6,p,8b,p,4g#,16p,4c#6,p,16a#,p,8b,p,8f,p,4f#"
,
"MahnaMahna:d=16,o=6,b=125:c#,c.,b5,8a#.5,8f.,4g#,a#,g.,4d#,8p,c#,c.,b5,8a#.5,8f.,g#.,8a#.,4g,8p,c#,c.,b5,8a#.5,8f.,4g#,f,g.,8d#.,f,g.,8d#.,f,8g,8d#.,f,8g,d#,8c,a#5,8d#.,8d#.,4d#,8d#."
,
"LeisureSuit:d=16,o=6,b=56:f.5,f#.5,g.5,g#5,32a#5,f5,g#.5,a#.5,32f5,g#5,32a#5,g#5,8c#.,a#5,32c#,a5,a#.5,c#.,32a5,a#5,32c#,d#,8e,c#.,f.,f.,f.,f.,f,32e,d#,8d,a#.5,e,32f,e,32f,c#,d#.,c#"
,
"MissionImp:d=16,o=6,b=95:32d,32d#,32d,32d#,32d,32d#,32d,32d#,32d,32d,32d#,32e,32f,32f#,32g,g,8p,g,8p,a#,p,c7,p,g,8p,g,8p,f,p,f#,p,g,8p,g,8p,a#,p,c7,p,g,8p,g,8p,f,p,f#,p,a#,g,2d,32p,a#,g,2c#,32p,a#,g,2c,a#5,8c,2p,32p,a#5,g5,2f#,32p,a#5,g5,2f,32p,a#5,g5,2e,d#,8d"
,
"axelf2:d=4,o=5,b=125:e,8g.,8e,16e,8a,8e,8d,e,8b.,8e,16e,8c6,8b,8g,8e,8b,8e6,16e,8d,16d,8b4,8f#,e,2p,e,8g.,8e,16e,8a,8e,8d,e,8b.,8e,16e,8c6,8b,8g,8e,8b,8e6,16e,8d,16d,8b4,8f#,e"
,
"StWars:d=4,o=5,b=160:8f,8f,8f,2a#.,2f.6,8d#6,8d6,8c6,2a#.6,f.6,8d#6,8d6,8c6,2a#.6,f.6,8d#6,8d6,8d#6,2c6,p,8f,8f,8f,2a#.,2f.6,8d#6,8d6,8c6,2a#.6,f.6,8d#6,8d6,8c6,2a#.6,f.6,8d#6,8d6,8d#6,2c6"
,
"PacMan:d=4,o=5,b=90:32b,32p,32b6,32p,32f#6,32p,32d#6,32p,32b6,32f#6,16p,16d#6,16p,32c6,32p,32c7,32p,32g6,32p,32e6,32p,32c7,32g6,16p,16e6,16p,32b,32p,32b6,32p,32f#6,32p,32d#6,32p,32b6,32f#6,16p,16d#6,16p,32d#6,32e6,32f6,32p,32f6,32f#6,32g6,32p,32g6,32g#6,32a6,32p,32b.6"
};
var pwm = new PWM(Cpu.PWMChannel.PWM_4, 50, 0, false);
var player = new RttlPlayer(new PwmSpeaker(pwm));
foreach (string song in songs)
{
player.Play(song);
}
pwm.Stop();
}
public void Stop()
{
//this.Dispose();
pwm.Stop();
}
static void Main(string[] args)
{
int result = GPIO_Init.WiringPiSetup();
if (result == -1)
{
Console.WriteLine("WiringPi init failed!");
}
else
{
Console.WriteLine("WiringPi init success!");
//int R_pin = 27;
//int G_pin = 28;
//int B_pin = 29;
int W_pin = 21;
//int Fan_pin = 24;
//soft pins 21 22 24 25 26 27 28 29
//hardware pins 23
PWM pwm = new PWM();
//pwm.Attach(R_pin);
//pwm.Attach(G_pin);
//pwm.Attach(B_pin);
pwm.Attach(W_pin);
//pwm.Write(W_pin, 1024);
//pwm.Attach(Fan_pin);
//string s = "";
Random rd = new Random();
while (!Console.KeyAvailable)
{
//if (Console.KeyAvailable)
//{
// s += Console.ReadKey().KeyChar;
// if (s.EndsWith("\r") || s.EndsWith("\n"))
// {
// int p = 0;
// if (int.TryParse(s, out p))
// {
// p = Math.Max(0, Math.Min(pwm.PWM_MAX, p));
// pwm.Write(pin, p);
// Console.WriteLine("PWM set to: " + p + "/" + pwm.PWM_MAX);
// }
// s = "";
// }
//}
Console.WriteLine("Fading In");
for (int i = 0; i <= pwm.PWM_MAX; i += 8)
{
pwm.Write(W_pin, i);
if (i % 128 == 0)
{
Console.Write(i + ", ");
}
GPIO.Timing.delay(40);
}
Console.WriteLine();
Console.WriteLine("Fading Out");
if (Console.KeyAvailable)
{
break;
}
for (int i = pwm.PWM_MAX; i >= 0; i -= 8)
{
pwm.Write(W_pin, i);
if (i % 128 == 0)
{
Console.Write(i + ", ");
}
GPIO.Timing.delay(40);
}
Console.WriteLine();
Console.Write("10 Random Values: ");
if (Console.KeyAvailable)
{
break;
}
for (int i = 10; i >= 0; i--)
{
int r = rd.Next(0, pwm.PWM_MAX);
pwm.Write(W_pin, r);
Console.Write(r + ", ");
GPIO.Timing.delay(200);
}
Console.WriteLine();
}
pwm.Stop();
}
}
public void Halt()
{
_leftPWM.Stop();
_rightPWM.Stop();
}
public static void Halt()
{
leftPWM.Stop();
rightPWM.Stop();
}
