static void TestRotate()
{
Console.WriteLine("Testing a servo motor controlled by a rotary encoder");
var angle = 0;
const int step = 10;
using (var left = Pi.Gpio.Pin(leftPin, PinKind.InputPullUp))
using (var right = Pi.Gpio.Pin(rightPin, PinKind.InputPullUp))
using (var servo = new ServoMotor(maxAngle))
{
servo.PulseWidths(0.5, 2.5);
servo.Start();
// Connect rotate and click events
left.OnRisingEdge += Rotate;
Console.WriteLine("Click the button to stop this test");
Pi.Gpio.Pin(buttonPin, PinKind.InputPullUp).WaitForEdge(PinEdge.Rising);
left.OnRisingEdge -= Rotate;
servo.Angle = 0;
Pi.Wait(2000);
servo.Stop();
// Called on the falling edge of the left pin
void Rotate(object sender, PinEventHandlerArgs args)
{
if (args.Bounced)
{
return;
}
var a = angle;
a += left.Value == right.Value ? -step : step;
if (a < 0)
{
a = 0;
}
if (a > maxAngle)
{
a = maxAngle;
}
if (a != angle)
{
Console.WriteLine("servo angle at {0}°", servo.Angle = angle = a);
}
}
}
}
static void TestSweep()
{
Console.WriteLine("Testing a servo motor in a sweeping motion");
var angle = 0d;
var step = 0.1d;
var done = false;
using (var left = Pi.Gpio.Pin(leftPin, PinKind.InputPullUp))
using (var right = Pi.Gpio.Pin(rightPin, PinKind.InputPullUp))
using (var servo = new ServoMotor(maxAngle))
{
servo.PulseWidths(0.5, 2.5);
servo.Start();
var timer = PreciseTimer.Every(1, () =>
{
if (done)
{
return(false);
}
angle += step;
var a = angle % (maxAngle * 2);
if (a > maxAngle)
{
a = (maxAngle * 2) - a;
}
servo.Angle = a;
return(true);
});
Console.WriteLine("Click the button to stop this test");
// Connect rotate and click events
left.OnRisingEdge += Rotate;
Pi.Gpio.Pin(buttonPin, PinKind.InputPullUp).WaitForEdge(PinEdge.Rising);
left.OnRisingEdge -= Rotate;
done = true;
timer.Wait();
servo.Angle = 0;
Pi.Wait(2000);
// Called on the falling edge of the left pin
void Rotate(object sender, PinEventHandlerArgs args)
{
if (args.Bounced)
{
return;
}
var s = step;
if (left.Value == right.Value)
{
s += 0.1;
}
else
{
s -= 0.1;
}
if (s < 0)
{
s = 0;
}
step = s;
Console.WriteLine("servo step {0:0.0}°", step);
}
}
}
