public MotorShield()
{
_coop = new Motor(this, IO.Instance.MotorShieldCoop, 0x08, 0x04);
_yard = new Motor(this, IO.Instance.MotorShieldYard, 0x10, 0x02);
//// M3 = new Motor(this, ..., 0x80, 0x20);
//// M4 = new Motor(this, ..., 0x40, 0x01);
}
public Door(string name, Motor motor, InputPort doorOpen, InputPort doorClosed)
{
Name = name;
_motor = motor;
_doorOpen = doorOpen;
_doorClosed = doorClosed;
Status = DoorStatus.Unknown;
}
private static void TestSensors(Motor motor, InputPort open, InputPort closed)
{
int sleep = 500;
bool enabled = false;
while (true)
{
IO.Instance.MotorShieldEnable.Write(enabled); enabled = !enabled;
IO.Instance.BoardLED.Write(true);
motor.Down();
Thread.Sleep(sleep);
// Debug.Print("Coop: open=" + open.Read() + " closed=" + closed.Read());
motor.Off();
Thread.Sleep(sleep);
IO.Instance.BoardLED.Write(false);
motor.Up();
Thread.Sleep(sleep);
// Debug.Print("Coop: open=" + open.Read() + " closed=" + closed.Read());
motor.Off();
Thread.Sleep(sleep);
}
}
public OfflineDoor(string name, Motor motor, InputPort doorOpen, InputPort doorClosed)
{
Name = name;
}