public IMotor PwmMotor(int pin, float tweenFactor, float speedMultiplier, bool flipped)
{
string pinName = kPwmPinNameByExportNumber[pin];
beagleBoneGpioConfigurationManager.SetPinMode(pinName, PinMode.Pwm);
if (!Directory.Exists(BuildPinPath(pin)))
{
internalFileSystemProxy.WriteText(kPwmExportPath, pin.ToString());
}
internalFileSystemProxy.WriteText(
BuildPinPath(pin, kRunKey),
"0");
internalFileSystemProxy.WriteText(
BuildPinPath(pin, kPeriodNanosecondsKey),
kPwmCyclePeriod.ToString());
internalFileSystemProxy.WriteText(
BuildPinPath(pin, kRunKey),
"1");
var dutyValue = deviceValueFactory.FromFile <int>(
BuildPinPath(pin, kDutyNanosecondsKey),
DeviceValueAccess.ReadWrite);
dutyValue.Set(1500000);
Thread.Sleep(1000);
dutyValue.Set(0);
Thread.Sleep(1000);
dutyValue.Set(1500000);
return(new GpioMotorImpl(
$"PWM_Pin{pin}_{pinName}",
deviceValueFactory.TweeningAdapter(
deviceValueFactory.IntToFloatAdapter(
dutyValue,
-1500000,
(int)(399000 * (flipped ? -1 : 1) * speedMultiplier) // accounts for rounding error
), tweenFactor)));
}
