public void SetPwm(DeviceChannel channel, int value)
{
Log.Debug("SetPwm({0},{1})", channel, value);
var piCommand = new PwmCommand(channel, value);
PiController.Instance.SendCommand(piCommand);
}
public void SetMotor(int value)
{
var channel = DeviceChannel.DcMotor;
Log.Info("SetPwm({0},{1})", channel, value);
var piCommand = new PwmCommand(channel, value);
PiController.Instance.SendCommand(piCommand);
}
public void Command(PwmCommand pwmCommand)
{
Log.DebugFormat("PwmCommand received({0})!", pwmCommand);
switch (pwmCommand.Channel)
{
case DeviceChannel.DcMotor:
var percent = pwmCommand.DutyCyclePercent;
var direction = percent > 0 ? MotorDirection.Forward : MotorDirection.Reverse;
DcMotor.Go(Math.Abs(percent), direction);
break;
case DeviceChannel.Led:
Led0.On(pwmCommand.DutyCyclePercent);
break;
case DeviceChannel.Servo:
Servo.MoveTo(pwmCommand.DutyCyclePercent);
break;
}
}
private Task GetClawTask()
{
var task = new Task(() =>
{
Log.Info("Claw!");
var ingestCommand = new PwmCommand {
Channel = DeviceChannel.Servo, DutyCyclePercent = 10
};
PwmController.Command(ingestCommand);
Task.Delay(TimeSpan.FromMilliseconds(750)).Wait();
var throwCommand = new PwmCommand {
Channel = DeviceChannel.Servo, DutyCyclePercent = 70
};
PwmController.Command(throwCommand);
});
task.WhenCompleted(ClawCompleted, ClawCompleted);
return(task);
}
public void SendCommand(PwmCommand command)
{
Clients.All.SendPwmCommand(command);
}
public void SendCommand(PwmCommand pwmCommand)
{
PwmController.Command(pwmCommand);
}
