void Init()
{
Console.WriteLine("Init");
portLeft = Device.CreateDigitalInputPort(Device.Pins.D12);
portUp = Device.CreateDigitalInputPort(Device.Pins.D13);
portRight = Device.CreateDigitalInputPort(Device.Pins.D07);
portDown = Device.CreateDigitalInputPort(Device.Pins.D11);
var config = new SpiClockConfiguration(12000, SpiClockConfiguration.Mode.Mode0);
var bus = Device.CreateSpiBus(Device.Pins.SCK, Device.Pins.MOSI, Device.Pins.MISO, config);
display = new Ssd1309
(
device: Device,
spiBus: bus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00
);
graphics = new GraphicsLibrary(display);
graphics.CurrentFont = new Font4x8();
graphics.Rotation = GraphicsLibrary.RotationType._270Degrees;
}
public InputObservableApp()
{
// create an input port on D02.
_input = Device.CreateDigitalInputPort(Device.Pins.D02);
// Traditional event
_input.Changed += (object sender, DigitalInputPortEventArgs e) => {
Console.WriteLine($"Old school event raised; Time: {e.New.Millisecond}, Value: {e.Value}");
};
// this illustrates using a FilterableObserver. Note that the filter is an optional
// parameter, if you're interested in all notifications, don't pass a filter/predicate.
// in this case, we filter on events by time, and only notify if the new event is > 1 second from
// the last event.
_input.Subscribe(new FilterableChangeObserver <DigitalInputPortEventArgs, DateTime>(
e => {
Console.WriteLine($"Observer Observing the Observable, Observably speaking, Time: {e.New.Millisecond}, Value: {e.Value}");
},
// Optional filter paramter, showing a 1 second filter, i.e., only notify
// if the new event is > 1 second from last.
f => {
return(f.Delta > new TimeSpan(0, 0, 0, 0, 1000));
}));
Console.WriteLine("Got here 3.");
}
/// <summary>
/// Instantiates an Mcp23008 on the specified I2C bus, with the specified
/// peripheral address.
/// </summary>
/// <param name="i2cBus"></param>
/// <param name="address"></param>
public Mcp23x08(II2cBus i2cBus, byte address = 0x20,
IDigitalInputPort interruptPort = null) :
// use the internal constructor that takes an IMcpDeviceComms
this(new I2cMcpDeviceComms(i2cBus, address), interruptPort)
{
// nothing goes here
}
/// <summary>
/// Create a new HYSRF05 object and hook up the interrupt handler
/// HSSRF05 must be running the default 4/5 pin mode
/// 3 pin mode is not supported on Meadow
/// </summary>
/// <param name="triggerPort"></param>
/// <param name="echoPort"></param>
public Hysrf05(IDigitalOutputPort triggerPort, IDigitalInputPort echoPort)
{
this.triggerPort = triggerPort;
this.echoPort = echoPort;
this.echoPort.Changed += OnEchoPortChanged;
}
void Initialize()
{
Console.WriteLine("Initialize hardware...");
portLeft = Device.CreateDigitalInputPort(Device.Pins.D02);
portRight = Device.CreateDigitalInputPort(Device.Pins.D03);
portDown = Device.CreateDigitalInputPort(Device.Pins.D04);
portReset = Device.CreateDigitalInputPort(Device.Pins.D05);
speaker = new PiezoSpeaker(Device.CreatePwmPort(Device.Pins.D06));
var config = new SpiClockConfiguration(
speed: new Frequency(6000, Frequency.UnitType.Kilohertz),
mode: SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(
clock: Device.Pins.SCK,
copi: Device.Pins.MOSI,
cipo: Device.Pins.MISO,
config: config);
var display = new St7789(
device: Device,
spiBus: spiBus,
chipSelectPin: Device.Pins.D10,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00,
width: 240, height: 240);
Console.WriteLine("Create graphics library");
graphics = new MicroGraphics(display);
graphics.CurrentFont = new Font12x16();
}
/// <summary>
/// Create a new HYSRF05 object and hook up the interrupt handler
/// HSSRF05 must be running the default 4/5 pin mode
/// 3 pin mode is not supported on Meadow
/// </summary>
/// <param name="triggerPort"></param>
/// <param name="echoPort"></param>
public HYSRF05(IDigitalOutputPort triggerPort, IDigitalInputPort echoPort)
{
_triggerPort = triggerPort;
_echoPort = echoPort;
_echoPort.Changed += OnEchoPortChanged;
}
void Initialize()
{
Console.WriteLine("Initialize hardware...");
portLeft = Device.CreateDigitalInputPort(Device.Pins.D13);
portRight = Device.CreateDigitalInputPort(Device.Pins.D11);
portDown = Device.CreateDigitalInputPort(Device.Pins.D12);
portReset = Device.CreateDigitalInputPort(Device.Pins.D07);
speaker = new PiezoSpeaker(Device.CreatePwmPort(Device.Pins.D05));
var config = new SpiClockConfiguration(
speed: new Frequency(12000, Frequency.UnitType.Kilohertz),
mode: SpiClockConfiguration.Mode.Mode0);
var spiBus = Device.CreateSpiBus(
clock: Device.Pins.SCK,
copi: Device.Pins.MOSI,
cipo: Device.Pins.MISO,
config: config);
var display = new Ssd1309
(
device: Device,
spiBus: spiBus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00
);
graphics = new MicroGraphics(display);
graphics.CurrentFont = new Font4x8();
}
void Initialize()
{
Console.WriteLine("Initialize hardware...");
onboardLed = new RgbPwmLed(device: Device,
redPwmPin: Device.Pins.OnboardLedRed,
greenPwmPin: Device.Pins.OnboardLedGreen,
bluePwmPin: Device.Pins.OnboardLedBlue,
3.3f, 3.3f, 3.3f,
Meadow.Peripherals.Leds.IRgbLed.CommonType.CommonAnode);
var config = new SpiClockConfiguration(3000, SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(Device.Pins.SCK, Device.Pins.MOSI, Device.Pins.MISO, config);
button = Device.CreateDigitalInputPort(Device.Pins.D12, InterruptMode.EdgeRising, ResistorMode.Disabled);
button.Changed += Button_Changed;
//display
display = new St7789(
device: Device,
spiBus: spiBus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00,
width: 240, height: 240);
graphics = new GraphicsLibrary(display);
graphics.CurrentFont = new Font12x20();
sensor = new Bmp180(Device.CreateI2cBus());
sensor.Updated += Sensor_Updated;
sensor.StartUpdating();
}
void Initialize()
{
Console.WriteLine("Initializing hardware...");
//==== create an input port on D02.
input = Device.CreateDigitalInputPort(
Device.Pins.D02, InterruptMode.EdgeBoth, ResistorMode.InternalPullDown,
20, 10);
//==== Classic .NET Events
input.Changed += (object sender, DigitalPortResult result) => {
Console.WriteLine($"Old school event raised; Time: {result.New.Time}, Value: {result.New.State}");
};
//===== Filterable Observer
// this illustrates using a FilterableObserver. Note that the filter is an optional
// parameter, if you're interested in all notifications, don't pass a filter/predicate.
// in this case, we filter on events by time, and only notify if the new event is > 1 second from
// the last event.
var observer = IDigitalInputPort.CreateObserver(
handler: result => {
Console.WriteLine($"Observer filter satisfied, time: {result.New.Time.ToShortTimeString()}");
},
// Optional filter paramter, showing a 1 second filter, i.e., only notify
// if the new event is > 1 second from last time it was notified.
filter: result => {
if (result.Old is { } old) // C# 8 null pattern matching for not null
{
return((result.New.Time - old.Time) > TimeSpan.FromSeconds(1));
}
public HCSR_04(IDigitalInputPort e, IDigitalOutputPort t, Unit measureUnit)
{
echo = e;
trigger = t;
//echo.Changed += EchoChanged;
MeasureUnit = measureUnit;
}
void Initialize()
{
Console.WriteLine("Initialize hardware...");
portLeft = Device.CreateDigitalInputPort(Device.Pins.D13);
portRight = Device.CreateDigitalInputPort(Device.Pins.D11);
portDown = Device.CreateDigitalInputPort(Device.Pins.D12);
portReset = Device.CreateDigitalInputPort(Device.Pins.D07);
speaker = new PiezoSpeaker(Device.CreatePwmPort(Device.Pins.D05));
var config = new SpiClockConfiguration(12000, SpiClockConfiguration.Mode.Mode0);
var bus = Device.CreateSpiBus(Device.Pins.SCK, Device.Pins.MOSI, Device.Pins.MISO, config);
display = new Ssd1309
(
device: Device,
spiBus: bus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00
);
graphics = new GraphicsLibrary(display);
graphics.CurrentFont = new Font4x8();
}
private void Initialize()
{
Console.WriteLine("Initialize hardware...");
_pirSensor = Device.CreateDigitalInputPort(Device.Pins.D02, InterruptMode.EdgeBoth, ResistorMode.Disabled, 20d);
_pirSensor.Changed += OnSensorChanged;
}
void Initialize()
{
Console.WriteLine("Initialize hardware...");
portLeft = Device.CreateDigitalInputPort(Device.Pins.D02);
portRight = Device.CreateDigitalInputPort(Device.Pins.D03);
portDown = Device.CreateDigitalInputPort(Device.Pins.D04);
portReset = Device.CreateDigitalInputPort(Device.Pins.D05);
speaker = new PiezoSpeaker(Device.CreatePwmPort(Device.Pins.D06));
var config = new SpiClockConfiguration(6000, SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(Device.Pins.SCK, Device.Pins.MOSI, Device.Pins.MISO, config);
Console.WriteLine("Create display driver instance");
display = new St7789(device: Device, spiBus: spiBus,
chipSelectPin: Device.Pins.D10,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00,
width: 240, height: 240);
Console.WriteLine("Create graphics library");
graphics = new GraphicsLibrary(display);
graphics.CurrentFont = new Font12x16();
}
void Initialize()
{
portLeft = Device.CreateDigitalInputPort(Device.Pins.D12);
portUp = Device.CreateDigitalInputPort(Device.Pins.D13);
portRight = Device.CreateDigitalInputPort(Device.Pins.D07);
portDown = Device.CreateDigitalInputPort(Device.Pins.D11);
var config = new SpiClockConfiguration(
speed: new Frequency(48000, Frequency.UnitType.Kilohertz),
mode: SpiClockConfiguration.Mode.Mode3);
var spiBus = Device.CreateSpiBus(
clock: Device.Pins.SCK,
copi: Device.Pins.MOSI,
cipo: Device.Pins.MISO,
config: config);
var display = new Ssd1309
(
device: Device,
spiBus: spiBus,
chipSelectPin: Device.Pins.D02,
dcPin: Device.Pins.D01,
resetPin: Device.Pins.D00
);
graphics = new MicroGraphics(display);
graphics.CurrentFont = new Font4x8();
graphics.Rotation = RotationType._270Degrees;
}
/// <summary>
/// Create a new Ds3231 object using the default parameters for the component.
/// </summary>
/// <param name="address">Address of the DS3231 (default = 0x68).</param>
/// <param name="speed">Speed of the I2C bus (default = 100 KHz).</param>
/// <param name="i2cBus">The I2C Bus the peripheral is connected to</param>
/// <param name="interruptPort">Digital port connected to the alarm interrupt pin on the RTC.</param>
public Ds3231(
II2cBus i2cBus,
IDigitalInputPort interruptPort = null,
byte address = 0x68)
: base(new I2cPeripheral(i2cBus, address), interruptPort)
{
}
public OLED128x32Wing(II2cBus i2cBus, IDigitalInputPort portA, IDigitalInputPort portB, IDigitalInputPort portC)
{
Display = new Ssd1306(i2cBus, 0x3C, Ssd1306.DisplayType.OLED128x32);
ButtonA = new PushButton(portA, ResistorMode.PullUp);
ButtonB = new PushButton(portB); // has physical resistor
ButtonC = new PushButton(portC, ResistorMode.PullUp);
}
public Hx711(IDigitalOutputPort sck, IDigitalInputPort dout)
{
this.sck = sck;
this.dout = dout;
CalculateRegisterValues(sck.Pin, dout.Pin);
Start();
}
/// <summary>
/// Instantiate a new RotaryEncoder on the specified ports
/// </summary>
/// <param name="aPhasePort"></param>
/// <param name="bPhasePort"></param>
public RotaryEncoder(IDigitalInputPort aPhasePort, IDigitalInputPort bPhasePort)
{
APhasePort = aPhasePort;
BPhasePort = bPhasePort;
APhasePort.Changed += PhaseAPinChanged;
BPhasePort.Changed += PhaseBPinChanged;
}
public OLED128x32Wing(II2cBus i2cBus, IDigitalInputPort portA, IDigitalInputPort portB, IDigitalInputPort portC)
{
Display = new Ssd1306(i2cBus, 0x3C, Ssd1306.DisplayType.OLED128x32);
Display.IgnoreOutOfBoundsPixels = true;
ButtonA = new PushButton(portA);
ButtonB = new PushButton(portB);
ButtonC = new PushButton(portC);
}
/// <summary>
/// Creates an instance of the NAU7802 Driver class
/// </summary>
/// <param name="bus"></param>
public Hx711(IIODevice device, IPin sck, IPin dout)
{
this.sck = device.CreateDigitalOutputPort(sck);
this.dout = device.CreateDigitalInputPort(dout);
createdPorts = true; // we need to dispose what we create
CalculateRegisterValues(sck, dout);
Start();
}
/// <summary>
/// Initializes a new instance of the SoundGenerator class
/// </summary>
/// <param name="inputPort1">First sound-level input port</param>
/// <param name="inputPort2">Second sound-level input port</param>
/// <param name="pwmPort">PWM port used to drive the speaker</param>
public SoundGenerator(IDigitalInputPort inputPort1, IDigitalInputPort inputPort2, IPwmPort pwmPort)
{
this.volumeIn1 = inputPort1;
this.volumeIn2 = inputPort2;
this.speakerPWM = pwmPort;
this.speaker = new PiezoSpeaker(this.speakerPWM);
this.PlayInitialSound();
}
public ButtonEventsApp()
{
_input = Device.CreateDigitalInputPort(
Device.Pins.D00,
InterruptMode.EdgeBoth,
ResistorMode.PullDown,
debounceDuration: 20);
_input.Changed += Input_Changed;
Console.WriteLine("App initialized.");
}
/// <summary>
/// Create a new MAG3110 object using the default parameters for the component.
/// </summary>
/// <param name="address">Address of the DS3231 (default = 0x68).</param>
/// <param name="speed">Speed of the I2C bus (default = 100 KHz).</param>
/// <param name="interruptPort">Digital port connected to the alarm interrupt pin on the RTC.</param>
// TODO: revisit; `DigitalPin.Empty`?
public DS3231(IDigitalInputPort interruptPort, byte address = 0x68, ushort speed = 100)
{
_ds323x = new I2cBus(address, speed);
// TODO: i changed this from GPIO_NONE
// samples will need to pass null
if (interruptPort != null)
{
InterruptPin = interruptPort;
}
}
public void ConfigurePeripherals()
{
IDigitalInputPort interruptPort =
Device.CreateDigitalInputPort(
Device.Pins.D00,
InterruptMode.EdgeRising);
// create a new mcp with all the address pins pulled low for
// an address of 0x20/32
_mcp = new Mcp23x08(Device.CreateI2cBus(), false, false, false, interruptPort);
}
/// <summary>
/// Create a new Parallax PIR object connected to a interrupt port.
/// </summary>
/// <param name="digitalInputPort"></param>
public Hcsens0040(IDigitalInputPort digitalInputPort)
{
if (digitalInputPort != null)
{
_digitalInputPort = digitalInputPort;
_digitalInputPort.Changed += DigitalInputPortChanged;
}
else
{
throw new Exception("Invalid pin for the PIR interrupts.");
}
}
/// <summary>
/// Main constructor
/// </summary>
/// <param name="leftForwardPwm">PWM port responsible for left motor moving forward</param>
/// <param name="leftBackPwm">PWM port responsible for left motor moving backward</param>
/// <param name="rightForwardPwm">PWM port responsible for right motor moving forward</param>
/// <param name="rightBackPwm">PWM port responsible for right motor moving backward</param>
/// <param name="gearPwm">PWM port responsible for controling gear changing servo</param>
public MotorController(IPwmPort rightForwardPwm,
IPwmPort rightBackPwm,
IPwmPort leftForwardPwm,
IPwmPort leftBackPwm,
IPwmPort gearPwm,
IDigitalInputPort leftCounterPort,
IDigitalInputPort righCounterPort,
BNO055 posSens,
CameraGimbal gimb,
Action clQueue)
{
quarterCircle = fullCircle / 4;
halfCircle = fullCircle / 2;
positionSensor = posSens;
gimbal = gimb;
clearQueue = clQueue;
circumference = teethCount * chainPitch / magnetsCount;
leftMotor = new Motor(leftForwardPwm, leftBackPwm);
rightMotor = new Motor(rightForwardPwm, rightBackPwm);
gearbox = new GearBox(gearPwm);
rightCounter = new HallEffectCounter(righCounterPort);
leftCounter = new HallEffectCounter(leftCounterPort);
rightCounter.Name = Side.Right;
leftCounter.Name = Side.Left;
#if DEBUG
rightCounter.RegisterForCount(CountChanged);
leftCounter.RegisterForCount(CountChanged);
#endif
rightCounter.RegisterForLimitReached(MoveForwardStop);
leftCounter.RegisterForLimitReached(MoveForwardStop);
positionSensor.RegisterForHeadingChanged(HeadingChanged);
moveForwardResetEventLeft = new AutoResetEvent(false);
moveForwardResetEventRight = new AutoResetEvent(false);
turnResetEvent = new AutoResetEvent(false);
turnTokenSource = new CancellationTokenSource();
turnPid = new IdealPidController();
turnPid.ProportionalComponent = 1.8f;
turnPid.IntegralComponent = 0.05f;
turnPid.DerivativeComponent = 0.01f;
turnPid.OutputMax = 50;
turnPid.OutputMin = -50;
stabilizePid = new IdealPidController();
stabilizePid.ProportionalComponent = 1.8f;
stabilizePid.IntegralComponent = 0.05f;
stabilizePid.DerivativeComponent = 0.01f;
stabilizePid.OutputMax = stabilizeTurnRate;
stabilizePid.OutputMin = -stabilizeTurnRate;
}
/// <summary>
/// Create a new Ds3231 object using the default parameters for the component.
/// </summary>
/// <param name="address">Address of the DS3231 (default = 0x68).</param>
/// <param name="speed">Speed of the I2C bus (default = 100 KHz).</param>
/// <param name="interruptPort">Digital port connected to the alarm interrupt pin on the RTC.</param>
public Ds3231(II2cBus i2cBus, IDigitalInputPort interruptPort, byte address = 0x68, ushort speed = 100)
{
_ds323x = new I2cPeripheral(i2cBus, address);
// samples will need to pass null
if (interruptPort != null)
{
_interruptPort = interruptPort;
_interruptPort.Changed += InterruptPort_Changed;
}
}
protected void MainLoop()
{
Console.WriteLine("Initialize a PushButton and its events handler on pin D03...");
inputBtn = Device.CreateDigitalInputPort(Device.Pins.D03, InterruptMode.EdgeBoth, ResistorMode.PullUp, 50);
// TODO: Some reason the events PressStarted / Ended and also the inputBtn.Changed seems not to work anymore....
// but the "Console.WriteLine($"InputBtn.State = {inputBtn.State}"); " in the loop seems to work !.
// STRANGE....
var pushButton = new PushButton(inputBtn);
pushButton.PressStarted += PushButton_PressStarted;
pushButton.PressEnded += PushButton_PressEnded;
// add an event handler
inputBtn.Changed += (s, o) =>
{
Console.WriteLine("Event Changed => ToggleLed.");
//ToggleLed(led);
};
Console.WriteLine("Starting MainLoop...");
while (true)
{
Console.WriteLine($"InputBtn.State = {inputBtn.State}");
Console.WriteLine($"inputD04.State = {inputD04.State}");
DisplayText("Blink RED");
Blink(Color.Red);
Console.WriteLine($"InputBtn.State = {inputBtn.State}");
Console.WriteLine($"inputD04.State = {inputD04.State}");
DisplayText("Blink GREEN");
Blink(Color.Green);
Console.WriteLine($"InputBtn.State = {inputBtn.State}");
Console.WriteLine($"inputD04.State = {inputD04.State}");
DisplayText("Blink BLUE");
Blink(Color.Blue);
Console.WriteLine($"InputBtn.State = {inputBtn.State}");
Console.WriteLine($"inputD04.State = {inputD04.State}");
}
}
public MeadowApp()
{
try
{
hour = new PushButton(Device, Device.Pins.D15);
hour.Clicked += HourClicked;
Console.WriteLine("subscribe test");
//minute = new PushButton(Device, Device.Pins.D12);
//minute.Clicked += MinuteClicked;
this.inputPort = Device.CreateDigitalInputPort(Device.Pins.D12, interruptMode: InterruptMode.EdgeBoth, debounceDuration: 100);
//this.inputPort.Changed += (object sender, DigitalInputPortEventArgs e) =>
//{
// //Console.WriteLine("Change detected");
// Console.WriteLine($"Old school event raised; Time: {e.New.Millisecond}, Value: {e.Value}");
//};
this.inputPort.Subscribe(new FilterableChangeObserver <DigitalInputPortEventArgs, DateTime>(
e =>
{
if (!e.Value)
{
Console.WriteLine($"Event observed at {e.New.Millisecond}, Value: {e.Value}\r\n");
this.MinuteClicked(null, null);
}
},
f =>
{
return(true); // return (f.Delta > new TimeSpan(0, 0, 0, 0, 100));
}));
display = new CharacterDisplay
(
device: Device,
pinRS: Device.Pins.D10,
pinE: Device.Pins.D09,
pinD4: Device.Pins.D08,
pinD5: Device.Pins.D07,
pinD6: Device.Pins.D06,
pinD7: Device.Pins.D05
);
Device.SetClock(new DateTime(2020, 07, 24, 11, 00, 00));
CharacterDisplayClock();
}
catch (Exception e)
{
Console.WriteLine($"Exception: {e.ToString()}");
}
}
/// <summary>
/// Create a new Parallax PIR object connected to a interrupt port.
/// </summary>
/// <param name="digitalInputPort"></param>
public ParallaxPir(IDigitalInputPort digitalInputPort)
{
//TODO: I changed this from Pins.GPIO_NONE to null
if (digitalInputPort != null)
{
_digitalInputPort = digitalInputPort;
_digitalInputPort.Changed += DigitalInputPortChanged;
}
else
{
throw new Exception("Invalid pin for the PIR interrupts.");
}
}
