public async void Run(IBackgroundTaskInstance taskInstance)
{
usb = new UsbSerial("VID_2341", "PID_0042");//Arduino MEGA
//construct the firmata client
firmata = new UwpFirmata();
arduino = new RemoteDevice(firmata);
firmata.begin(usb);
//we do not care about inputs in this example
//firmata.startListening();
usb.begin(115200, SerialConfig.SERIAL_8N1);
arduino.DeviceReady += Stepper_Usb_ConnectionEstablished; //usb.ConnectionEstablished
arduino.DeviceReady += Drive_Usb_ConnectionEstablished; //usb.ConnectionEstablished
arduino.DeviceConnectionFailed += Arduino_DeviceConnectionFailed;
deferral = taskInstance.GetDeferral();
//pwmController = (await PwmController.GetControllersAsync(PwmPCA9685.PwmProviderPCA9685.GetPwmProvider()))[0];
//pwmController.SetDesiredFrequency(300); // Check if this is the correct frequency for Talon
//motorPin = pwmController.OpenPin(13);
//drive.RampUp(motorPin, .34);
drive = new FirmataDriveController(firmata);
step = new StepperController(firmata);
var carImpl = new CarImplementation(step, drive);
carRC.implementation = carImpl;
await Task.Run(async() =>
{
while (!stepperUsbSetup && !driveUsbSetup)
{
//wait
await Task.Delay(1);
}
carRC.Start();
});
}
public CarImplementation(StepperController s, FirmataDriveController d)
{
steering = s;
drive = d;
}