public Stepper_Motor(Motor_Hat controller, int motor, int steps = 200)
{
MC = controller;
revsteps = steps;
motornum = motor;
sec_per_step = 0.1;
steppingcounter = 0;
currentstep = 0;
motor -= 1;
if (motor == 0)
{
PWMA = 8;
AIN2 = 9;
AIN1 = 10;
PWMB = 13;
BIN2 = 12;
BIN1 = 11;
}
else if (motor == 1)
{
PWMA = 2;
AIN2 = 3;
AIN1 = 4;
PWMB = 7;
BIN2 = 6;
BIN1 = 5;
}
else
{
Console.WriteLine("MotorHAT Stepper must be between 1 and 2 inclusive");
return;
}
}
public DC_Motor(Motor_Hat controller, int motor)
{
MC = controller;
motornum = motor;
int pwm = 0, in1 = 0, in2 = 0;
if (motor == 0)
{
pwm = 8;
in2 = 9;
in1 = 10;
}
else if (motor == 1)
{
pwm = 13;
in2 = 12;
in1 = 11;
}
else if (motor == 2)
{
pwm = 2;
in2 = 3;
in1 = 4;
}
else if (motor == 3)
{
pwm = 7;
in2 = 6;
in1 = 5;
}
else
{
Console.WriteLine("MotorHAT Motor must be between 1 and 4 inclusive");
return;
}
PWMpin = pwm;
IN1pin = in1;
IN2pin = in2;
}
