public void Stop(DcMotorIndex motorIndex)
{
ConfigureChannels(motorIndex);
pcaPwmDriver.SetChannelValue(channels.In1, PcaPwmDriver.FullyOff);
pcaPwmDriver.SetChannelValue(channels.In2, PcaPwmDriver.FullyOff);
}
private void ConfigureChannels(DcMotorIndex motorIndex)
{
switch (motorIndex)
{
case DcMotorIndex.DC1:
channels.In1 = 10;
channels.In2 = 9;
channels.Speed = 8;
break;
case DcMotorIndex.DC2:
channels.In1 = 11;
channels.In2 = 12;
channels.Speed = 13;
break;
case DcMotorIndex.DC3:
channels.In1 = 4;
channels.In2 = 3;
channels.Speed = 2;
break;
case DcMotorIndex.DC4:
channels.In1 = 5;
channels.In2 = 6;
channels.Speed = 7;
break;
}
}
public void Stop(DcMotorIndex motorIndex)
{
ConfigureChannels(motorIndex);
pwmControllerProvider.SetPulseParameters(channels.In1, dutyCycleFullyOff, true);
pwmControllerProvider.SetPulseParameters(channels.In2, dutyCycleFullyOff, true);
}
public void SetSpeed(DcMotorIndex motorIndex, ushort speed)
{
ConfigureChannels(motorIndex);
var dutyCycle = PcaPwmDriver.PercentageScaler * speed / PcaPwmDriver.Range;
dutyCycle = Math.Min(dutyCycle, PcaPwmDriver.PercentageScaler);
pwmControllerProvider.SetPulseParameters(channels.Speed, dutyCycle, false);
}
public void SetSpeed(DcMotorIndex motorIndex, ushort speed)
{
Check.IsLengthInValidRange(speed, 0, PcaPwmDriver.Range - 1);
ConfigureChannels(motorIndex);
var speedRegisterValue = new PcaRegisterValue()
{
On = speed
};
pcaPwmDriver.SetChannelValue(channels.Speed, speedRegisterValue);
}
public void Start(DcMotorIndex motorIndex, MotorDirection direction)
{
ConfigureChannels(motorIndex);
if (direction == MotorDirection.Forward)
{
pwmControllerProvider.SetPulseParameters(channels.In1, dutyCycleFullyOn, false);
pwmControllerProvider.SetPulseParameters(channels.In2, dutyCycleFullyOff, false);
}
else
{
pwmControllerProvider.SetPulseParameters(channels.In1, dutyCycleFullyOff, false);
pwmControllerProvider.SetPulseParameters(channels.In2, dutyCycleFullyOn, false);
}
}
public void Start(DcMotorIndex motorIndex, MotorDirection direction)
{
ConfigureChannels(motorIndex);
if (direction == MotorDirection.Forward)
{
pcaPwmDriver.SetChannelValue(channels.In1, PcaPwmDriver.FullyOn);
pcaPwmDriver.SetChannelValue(channels.In2, PcaPwmDriver.FullyOff);
}
else
{
pcaPwmDriver.SetChannelValue(channels.In1, PcaPwmDriver.FullyOff);
pcaPwmDriver.SetChannelValue(channels.In2, PcaPwmDriver.FullyOn);
}
}
private void DcMotorTest(DcMotorIndex motorIndex, MotorDirection direction, ushort speed)
{
if (dcMotor != null)
{
const int msDelay = 5000;
// 속도 설정 및 모터 구동
dcMotor.SetSpeed(motorIndex, speed);
dcMotor.Start(motorIndex, direction);
// 지정된 지연 대기
Task.Delay(msDelay).Wait();
// 모터 정지
dcMotor.Stop(motorIndex);
}
}
private void DcMotorTest(DcMotorIndex motorIndex, MotorDirection direction, ushort speed)
{
if (dcMotor.IsInitialized)
{
const int msDelay = 5000;
// Set speed, and run motor
dcMotor.SetSpeed(motorIndex, speed);
dcMotor.Start(motorIndex, direction);
// Wait a specified delay
Task.Delay(msDelay).Wait();
// Stop motor
dcMotor.Stop(motorIndex);
}
}
