public static Task ChangeDutyCycleInStepsAsync(this IPwmPin pwmPin, int targetDutyCycle,
int stepsPerChange = 6, int delayPerStepMs = 80)
{
var dutyCycleChange = targetDutyCycle - pwmPin.CurrentDutyCyclePercent;
// Adjust stepsPerChange if each step would be less than 1
stepsPerChange = Math.Min(stepsPerChange, Math.Abs(dutyCycleChange));
if (stepsPerChange == 0)
{
return(Task.CompletedTask);
}
var fullStep = dutyCycleChange / stepsPerChange;
return(Task.Run(
async() =>
{
int currentDutyCycle;
do
{
currentDutyCycle = pwmPin.CurrentDutyCyclePercent;
pwmPin.SetActiveDutyCyclePercent(currentDutyCycle + fullStep);
await Task.Delay(delayPerStepMs);
} while (Math.Abs(pwmPin.CurrentDutyCyclePercent - targetDutyCycle) > Math.Abs(fullStep));
pwmPin.SetActiveDutyCyclePercent(targetDutyCycle);
}));
}
public PwmController(IPwmPin forwardPwmPin, IPwmPin backwardPwmPin, int stepsPerChange)
{
_forwardPwmPin = forwardPwmPin;
_backwardPwmPin = backwardPwmPin;
_activePin = forwardPwmPin;
_stepsPerChange = stepsPerChange;
Direction = Direction.Forward;
}
public async Task <PwmController> CreateDutAsync()
{
ForwardPwmPin = NewForwardMockPin().Object;
BackwardPwmPin = NewBackwardMockPin().Object;
var result = new PwmController(ForwardPwmPin, BackwardPwmPin, _stepsPerChange);
await result.SetDirectionAsync(_direction);
await result.ChangeDutyCyclePercentAsync(_dutyCyclePercent);
return(result);
}
private async Task SetActivePinAsync(IPwmPin value)
{
var inactivePin = value == _forwardPwmPin ? _backwardPwmPin : _forwardPwmPin;
if (value == _activePin)
{
return;
}
await inactivePin.ChangeDutyCycleInStepsAsync(0);
_activePin = value;
}
public DimmableLed(IPwmController controller, GpioEnum gpio, int initialValue)
{
Pin = controller.OpenPin(gpio);
Pin.Start();
Dim(initialValue, this);
}
public Servo(IPwmPin pin)
{
_pin = pin;
RegisterPin(pin);
_maxAngle = 180;
}
public static Task Stop(this IPwmPin pwmPin, int stepsPerChange = 3, int delayPerStepMs = 40)
{
return(pwmPin.ChangeDutyCycleInStepsAsync(0, stepsPerChange, delayPerStepMs));
}
