/// <summary>
/// Runs the sample.
/// </summary>
/// <param name="lamp">The lamp, as an analog output.</param>
public static void Run(ISingleOutput lamp)
{
// Check parameters:
if (lamp == null)
{
throw new ArgumentNullException(nameof(lamp));
}
// Smoothly blink the output:
const int Steps = 10;
const int PauseInMs = 50;
while (true)
{
for (int step = 0; step < Steps; step++)
{
lamp.Value = (float)step / (float)Steps;
Thread.Sleep(PauseInMs);
}
for (int step = Steps; step > 0; step--)
{
lamp.Value = (float)step / (float)Steps;
Thread.Sleep(PauseInMs);
}
}
}
/// <summary>
/// Creates a <see cref="SingleMappedFromBooleanOutput"/> object mapping the boolean values false/true to two
/// float values.
/// </summary>
/// <param name="targetOutput">The target output receiving the float values.</param>
/// <param name="falseValue">The value that the <paramref name="targetOutput"/> shall be set to when the
/// <see cref="IBooleanInput.Value"/> property is false.</param>
/// <param name="trueValue">The value that the <paramref name="targetOutput"/> shall be set to when the
/// <see cref="IBooleanInput.Value"/> property is true.</param>
/// <returns></returns>
public static SingleMappedFromBooleanOutput MappedFromBoolean(
this ISingleOutput targetOutput,
float falseValue,
float trueValue)
{
return(new SingleMappedFromBooleanOutput(targetOutput, falseValue, trueValue));
}
/// <summary>
/// Creates a <see cref="SingleSmoothedOutput"/> object which will slowly approach the
/// <paramref name="targetOutput"/> value to the goal <see cref="ISingleOutput.Value"/>.
/// </summary>
/// <param name="targetOutput">The target output to be smoothed.</param>
/// <param name="valueChangePerSecond">The amount by that the <paramref name="targetOutput"/> value shall change
/// per second in order to reach the <see cref="Value"/> property which definies the goal value.</param>
/// <param name="rampIntervalMs">The interval, in milliseconds, in which the <paramref name="targetOutput"/>
/// value shall be computed and set. The smaller this value, the more often and more smoothly will the target
/// value be adapted.</param>
/// <returns>The created <see cref="SingleSmoothedOutput"/> object.</returns>
public static SingleSmoothedOutput Smoothed(
this ISingleOutput targetOutput,
float valueChangePerSecond,
int rampIntervalMs)
{
return(new SingleSmoothedOutput(targetOutput, valueChangePerSecond, rampIntervalMs));
}
/// <summary>
/// Creates a <see cref="SingleScaledOutput"/> object which will scale values linear using a factor and an
/// offset.
/// </summary>
/// <param name="targetOutput">The target output to received the scaled values.</param>
/// <param name="quadraticCoefficient">The factor by which the square of the value will be used.</param>
/// <param name="factor">The factor to use.</param>
/// <param name="offset">The offset to use.</param>
/// <returns>The created <see cref="SingleScaledOutput"/> object.</returns>
/// <remarks>The <paramref name="targetOutput"/> will receive values scaled by the formula:
/// <see cref="ISingleOutput.Value">Value</see> * <paramref name="factor"/> + <paramref name="offset"/>.
/// </remarks>
public static SingleScaledOutput Scaled(
this ISingleOutput targetOutput,
float quadraticCoefficient,
float factor,
float offset)
{
return(new SingleScaledOutput(targetOutput, quadraticCoefficient, factor, offset));
}
/// <summary>
/// Creates an instance given a factor only, using 0.0 as the offset.
/// </summary>
/// <param name="target">The target output which shall receive the scaled values.</param>
/// <param name="factor">The factor to scale the output.</param>
/// <remarks>Setting the <see cref="Value"/> will set the <paramref name="target"/> value to
/// <see cref="Value"/> * <paramref name="factor"/>.</remarks>
public SingleScaledOutput(ISingleOutput target, float factor)
{
if (target == null)
{
throw new ArgumentNullException(nameof(target));
}
_target = target;
_factor = factor;
}
/// <summary>
/// Creates an instance.
/// </summary>
/// <param name="targetOutput">The target output receiving the float values.</param>
/// <param name="falseValue">The value that the <paramref name="targetOutput"/> shall be set to when the
/// <see cref="IBooleanInput.Value"/> property is false.</param>
/// <param name="trueValue">The value that the <paramref name="targetOutput"/> shall be set to when the
/// <see cref="IBooleanInput.Value"/> property is true.</param>
public SingleMappedFromBooleanOutput(ISingleOutput targetOutput, float falseValue, float trueValue)
{
if (targetOutput == null)
{
throw new ArgumentNullException(nameof(targetOutput));
}
_targetOutput = targetOutput;
_falseValue = falseValue;
_trueValue = trueValue;
_targetOutput.Value = falseValue;
}
/// <summary>
/// Creates an instance given a quadratic and linear factor and an offset (y = ax² + bx + c).
/// </summary>
/// <param name="target">The target output which shall receive the scaled values.</param>
/// <param name="quadraticCoefficient">The factor by which the square of the value will be used.</param>
/// <param name="factor">The factor to scale the output.</param>
/// <param name="offset">The offset to add to the output.</param>
/// <remarks>Setting the <see cref="Value"/> will set the <paramref name="target"/> value to
/// <see cref="Value"/> * <paramref name="factor"/> + <paramref name="offset"/>.</remarks>
public SingleScaledOutput(ISingleOutput target, float quadraticCoefficient, float factor, float offset)
{
if (target == null)
{
throw new ArgumentNullException(nameof(target));
}
_target = target;
_quadraticCoefficient = quadraticCoefficient;
_factor = factor;
_offset = offset;
}
/// <summary>
/// Creates an instance.
/// </summary>
/// <param name="targetOutput">The target output to be smoothed.</param>
/// <param name="valueChangePerSecond">The amount by that the <paramref name="targetOutput"/> value shall change
/// per second in order to reach the <see cref="Value"/> property which definies the goal value.</param>
/// <param name="rampIntervalMs">The interval, in milliseconds, in which the <paramref name="targetOutput"/>
/// value shall be computed and set. The smaller this value, the more often and more smoothly will the target
/// value be adapted.</param>
public SingleSmoothedOutput(ISingleOutput targetOutput, float valueChangePerSecond, int rampIntervalMs)
{
_targetOutput = targetOutput ?? throw new ArgumentNullException(nameof(targetOutput));
if (valueChangePerSecond <= 0.0f)
{
throw new ArgumentOutOfRangeException(nameof(valueChangePerSecond));
}
if (rampIntervalMs <= 0)
{
throw new ArgumentOutOfRangeException(nameof(rampIntervalMs));
}
_valueChangePerTick = valueChangePerSecond / TimeSpan.TicksPerSecond;
_rampIntervalMs = rampIntervalMs;
}
public static void Run(ISingleInput input, ISingleOutput lamp)
{
if (input == null)
{
throw new ArgumentNullException(nameof(input));
}
if (lamp == null)
{
throw new ArgumentNullException(nameof(lamp));
}
while (true)
{
lamp.Value = input.Value;
Thread.Sleep(100); // Only to give you a chance to redeploy usung firmware as of 2018-04-08.
}
}
/// <summary>
/// Initializes a new instance of the <see cref="StepperMotor"/> class.
/// </summary>
/// <param name="phase1Output">The H-Bridge that controls motor phase 1.</param>
/// <param name="phase2Output">The H-Bridge that controls motor phase 2.</param>
/// <param name="stepsPerStepCycle">The steps per step cycle.</param>
public StepperMotor(
ISingleOutput phase1Output,
ISingleOutput phase2Output,
int stepsPerStepCycle)
{
if (phase1Output == null)
{
throw new ArgumentNullException(nameof(phase1Output));
}
if (phase2Output == null)
{
throw new ArgumentNullException(nameof(phase2Output));
}
if (phase1Output == phase2Output)
{
throw new ArgumentException("Use different phaseOutputs.");
}
_phase1Output = phase1Output;
_phase2Output = phase2Output;
_maxIndex = stepsPerStepCycle - 1;
_phaseIndex = 0;
// Configure step tables:
if (stepsPerStepCycle == 4)
{
ComputeWholeStepTables();
}
else if (stepsPerStepCycle == 8)
{
ComputeHalfStepTables();
}
else if (stepsPerStepCycle >= 8)
{
ComputeMicrostepTables(stepsPerStepCycle);
}
else
{
throw new ArgumentException(
"Use 4 for full steps; 8 for half steps; or >8 for stepsPerStepCycle", nameof(stepsPerStepCycle));
}
}
public void SetConnection(ISingleOutput input)
{
Input = input;
}
public void Connect(ISingleOutput dendrite)
{
_dendrites.Add(dendrite);
}
/// <summary>
/// Creates a <see cref="SingleScaledOutput"/> object which will scale values linear using a factor only and
/// 0.0 as the offset.
/// </summary>
/// <param name="targetOutput">The target output to received the scaled values.</param>
/// <param name="factor">The factor to use.</param>
/// <returns>The created <see cref="SingleScaledOutput"/> object.</returns>
/// <remarks>The <paramref name="targetOutput"/> will receive values scaled by the formula:
/// <see cref="ISingleOutput.Value">Value</see> * <paramref name="factor"/>.</remarks>
public static SingleScaledOutput Scaled(this ISingleOutput targetOutput, float factor)
{
return(new SingleScaledOutput(targetOutput, factor));
}
/// <summary>
/// Runs a "Turmbergbahn" train, that is, 2 trains hanging on a single steel wire driven by a motor, running on
/// the same rails using a "Abt'sche Weiche".
/// </summary>
/// <param name="trainMotor">The motor driving both trains at once. +1.0 is output for the direction so that
/// train 1 drives upwards and train 2 drives downwards, -1.0 vice versa.</param>
/// <param name="train1ReachedBottomStation">Signals true when train 1 reached the bottom station (and thus
/// train 2 reached the top station).</param>
/// <param name="train2ReachedBottomStation">Signals true when train 2 reached the bottom station (and thus
/// train 1 reached the top station).</param>
/// <param name="doorMotor">The motor driving all doors on both trains at once. +1.0 is output for opening,
/// -1.0 for closing.</param>
/// <param name="redLight">True shall light up a red traffic light when people shall not enter or leave the
/// train.</param>
/// <param name="greenLight">True shall light up a green traffic light when people may enter or leave the
/// train.</param>
/// <param name="waitForDoorsToMoveInMs">The time, in milliseconds, to wait for the
/// <paramref name="doorMotor"/> to have operated all doors reliably.</param>
/// <param name="waitWithOpenDoorsInMs">The time, in milliseconds, that the doors shall remain open.</param>
/// <param name="waitAroundDoorOperationsInMs">The time, in milliseconds, to wait after the train stopped and
/// before opening the door, and after the doors were closed again before the train starts.</param>
public static void Run(ISingleOutput trainMotor,
IBooleanInput trainReachedBottomStation,
ISingleOutput doorMotor,
int waitForDoorsToMoveInMs,
int waitWithOpenDoorsInMs,
int waitAroundDoorOperationsInMs)
{
// Check arguments:
if (trainMotor == null)
{
throw new ArgumentNullException(nameof(trainMotor));
}
if (trainReachedBottomStation == null)
{
throw new ArgumentNullException(nameof(trainReachedBottomStation));
}
if (doorMotor == null)
{
throw new ArgumentNullException(nameof(doorMotor));
}
if (waitForDoorsToMoveInMs < 0)
{
throw new ArgumentOutOfRangeException(nameof(waitForDoorsToMoveInMs));
}
if (waitWithOpenDoorsInMs < 0)
{
throw new ArgumentOutOfRangeException(nameof(waitWithOpenDoorsInMs));
}
if (waitAroundDoorOperationsInMs < 0)
{
throw new ArgumentOutOfRangeException(nameof(waitAroundDoorOperationsInMs));
}
// Run the train:
float moveDirection = 1.0f;
while (true)
{
// Move the train in the current direction until one of the end buttons is pressed:
if (!trainReachedBottomStation.Value)
{
trainMotor.Value = moveDirection;
trainReachedBottomStation.WaitFor(value: true, edgeOnly: false);
trainMotor.Value = 0.0f;
}
// Change direction for the next pass:
moveDirection = -moveDirection;
// Wait a bit before opening the doors:
Thread.Sleep(waitAroundDoorOperationsInMs);
// Open the door:
doorMotor.Value = 1.0f;
Thread.Sleep(waitForDoorsToMoveInMs);
doorMotor.Value = 0.0f;
// Let people step in and out, wait a bit:
Thread.Sleep(waitWithOpenDoorsInMs);
// Close the door:
doorMotor.Value = -1.0f;
Thread.Sleep(waitForDoorsToMoveInMs);
doorMotor.Value = 0.0f;
// Wait a bit before the train starts again:
Thread.Sleep(waitAroundDoorOperationsInMs);
}
}
public void Connect(ISingleOutput dendrite)
{
_dendrites.Add(dendrite);
}
/// <summary>
/// Runs a clock driven by a simple DC motor.
/// </summary>
/// <param name="motor">The motor to drive continuously.</param>
/// <param name="minimumMotorSpeed">The minimum speed setting that causes the motor to turn. Speeds below this
/// threshold may cause the motor to not turn at all.</param>
/// <param name="initialSpeedGuess">A rough initial guess for a speed to try to reach the first cycle in time.
/// </param>
/// <param name="pulse">The input which pulses to measure the motor speed.</param>
/// <param name="pulseDebounceMillisecondsAtFullSpeed">The time, in milliseconds, that shall be used as the
/// debounce time for the <paramref name="pulse"/> input when the <paramref name="motor"/> runs at full speed.
/// </param>
/// <param name="pulseMonitor">An output to show the monitored pulse input.</param>
/// <param name="idealSecondsPerCycle">The number of seconds for one pulse cycle which would give a perfectly
/// accurate operation of the clock.</param>
/// <remarks>The motor speed is constantly adapted to the measurement given by the pulse to realize the needed
/// pulse times without cumulative errors, even if the motor changes its behaviour during the operation.
/// </remarks>
public static void Run(ISingleOutput motor,
float minimumMotorSpeed,
float initialSpeedGuess,
IBooleanInput pulse,
double idealSecondsPerCycle,
IBooleanInput runAtFullSpeedSwitch)
{
// Check parameters:
if (motor == null)
{
throw new ArgumentNullException(nameof(motor));
}
if (minimumMotorSpeed <= 0f || minimumMotorSpeed >= 1f)
{
throw new ArgumentOutOfRangeException(nameof(minimumMotorSpeed));
}
if (initialSpeedGuess < minimumMotorSpeed || initialSpeedGuess > 1f)
{
throw new ArgumentOutOfRangeException(nameof(initialSpeedGuess));
}
if (pulse == null)
{
throw new ArgumentNullException(nameof(pulse));
}
if (idealSecondsPerCycle <= 0f)
{
throw new ArgumentOutOfRangeException(nameof(idealSecondsPerCycle));
}
// Run unit tests on the RunningAverageCalculator class:
Console.WriteLine("Testing RunningAverageCalculator");
RunningAverageCalculator.Test();
Console.WriteLine("RunningAverageCalculator successfully tested");
// An average calculator the motor output voltage (ranging from 0.0f to 1.0f) needed to read one cycle in
// idealSecondsPerCycle seconds:
var voltageForIdealCycleTime = new RunningAverageCalculator(10);
// Add the initial guess of that voltage:
voltageForIdealCycleTime.Add(initialSpeedGuess);
// Give a short full speed pulse to the motor to get it surely running:
motor.Value = 1.0f;
System.Threading.Thread.Sleep(10);
// Let the motor run until the pulse changes from false to true to initialize the position to a pulse
// boundary:
Console.WriteLine("Initializing to pulse position");
motor.Value = initialSpeedGuess;
pulse.WaitFor(true, true);
// This is our starting point:
var clockStartTime = DateTime.UtcNow;
int n = 0; // The number of cycles passed
DateTime t0 = clockStartTime; // Ideal start of the running cycle
DateTime a0 = t0; // Actual start of the running cycle
Console.WriteLine("Ideal seconds per cycle = " + idealSecondsPerCycle.ToString("N4"));
Console.WriteLine("Running the clock at initial v = " + initialSpeedGuess.ToString("N4"));
while (true)
{
if (runAtFullSpeedSwitch.Value)
{
Console.WriteLine("Manually adjusting clock by running at full speed");
// Let the motor run at full speed to adjust the clock's time on the user's request:
float lastSpeed = motor.Value;
motor.Value = 1f;
runAtFullSpeedSwitch.WaitFor(false);
// Reinitialize:
Console.WriteLine("Initializing to pulse position");
motor.Value = lastSpeed;
pulse.WaitFor(true, true);
Console.WriteLine("Pulse reached");
n = 0;
clockStartTime = DateTime.UtcNow;
t0 = clockStartTime;
a0 = t0;
}
// Calculate the end of the current (and the beginning of the next) cylce:
n++;
DateTime t1 = clockStartTime.AddSeconds(idealSecondsPerCycle * n);
double t1a0 = (t1 - a0).TotalSeconds;
// Wait for the next (debounced) pulse, telling us that we reached the end of the current cycle:
DateTime a1; // The actual end of the current cycle.
double a1a0; // a1 - a0: The number of seconds between a0 and a1.
int bounces = 0; // The number of bounces the pulse contacts made
do
{
pulse.WaitFor(true, true);
a1 = DateTime.UtcNow;
a1a0 = (a1 - a0).TotalSeconds;
bounces++;
} // Debounce by accepting the next pulse not earlier than at 70% of the wanted time interval:
while (a1a0 < 0.7 * t1a0);
// We may have missed one or more pulses due to mechanical errors in pulse detection.
// Estimate the number of real cyles, rounding by adding 0.5 and casting to int (which truncates):
int cycles = (int)((a1 - t1).TotalSeconds * motor.Value /
(voltageForIdealCycleTime.Average * idealSecondsPerCycle)
+ 0.5)
+ 1;
if (cycles > 1)
{
// We lost [cycles - 1] pulses. The worm turned multiple times until we got a contact.
// Adjust the counted pulses and the ideal target time for that number of pulses since the last
// contact:
n = n + cycles - 1;
t1 = clockStartTime.AddSeconds(idealSecondsPerCycle * n);
}
// Take note of the current measurement's insight:
voltageForIdealCycleTime.Add(motor.Value * a1a0 / (idealSecondsPerCycle * cycles));
// Calculate the motor voltage needed to reach the next cycle pulse right in time t1 and
// set the motor voltage to this value, taking the lower and upper bounds into account:
DateTime t2 = clockStartTime.AddSeconds(idealSecondsPerCycle * (n + 1));
motor.Value =
Math.Max(minimumMotorSpeed,
Math.Min(1.0f,
(float)(voltageForIdealCycleTime.Average * idealSecondsPerCycle
/ (t2 - a1).TotalSeconds)));
// Report to debugger:
double diff = (a1 - t1).TotalSeconds;
// Math.Abs(double) is not implemented on Netduiono 3:
double absDiff = diff < 0.0 ? -diff : diff;
Console.WriteLine(
"n = " + n.ToString("N0").PadLeft(8) +
" | bounces = " + bounces.ToString().PadLeft(3) +
" | cycles = " + cycles.ToString().PadLeft(2) +
" | vi = " + voltageForIdealCycleTime.Average.ToString("N4").PadLeft(6) +
" | t1 = " + t1.ToString("HH:mm:ss") +
" | a1 = " + a1.ToString("HH:mm:ss") +
" | " + (diff == 0.0 ? "exactly in time " :
((diff < 0.0 ? "early by " : " late by ") + absDiff.ToString("N4").PadLeft(7) + "s (" +
(absDiff * 100.0 / t1a0).ToString("N2").PadLeft(5) + "%)")) +
" | v = " + motor.Value.ToString("N4"));
// The current cycle gets the passed one:
t0 = t1;
a0 = a1;
}
}
/// <summary>
/// Runs a "Turmbergbahn" train, that is, 2 trains hanging on a single steel wire driven by a motor, running on
/// the same rails using a "Abt'sche Weiche".
/// </summary>
/// <param name="trainMotor">The motor driving both trains at once. +1.0 is output for the direction so that
/// train 1 drives upwards and train 2 drives downwards, -1.0 vice versa.</param>
/// <param name="train1ReachedBottomStation">Signals true when train 1 reached the bottom station (and thus
/// train 2 reached the top station).</param>
/// <param name="train2ReachedBottomStation">Signals true when train 2 reached the bottom station (and thus
/// train 1 reached the top station).</param>
/// <param name="doorMotor">The motor driving all doors on both trains at once. +1.0 is output for opening,
/// -1.0 for closing.</param>
/// <param name="redLight">True shall light up a red traffic light when people shall not enter or leave the
/// train.</param>
/// <param name="greenLight">True shall light up a green traffic light when people may enter or leave the
/// train.</param>
/// <param name="waitForDoorsToMoveInMs">The time, in milliseconds, to wait for the
/// <paramref name="doorMotor"/> to have operated all doors reliably.</param>
/// <param name="waitWithOpenDoorsInMs">The time, in milliseconds, that the doors shall remain open.</param>
/// <param name="waitAroundDoorOperationsInMs">The time, in milliseconds, to wait after the train stopped and
/// before opening the door, and after the doors were closed again before the train starts.</param>
public static void Run(ISingleOutput trainMotor,
IBooleanInput train1ReachedBottomStation,
IBooleanInput train2ReachedBottomStation,
ISingleOutput doorMotor,
IBooleanOutput redLight,
IBooleanOutput greenLight,
int waitForDoorsToMoveInMs,
int waitWithOpenDoorsInMs,
int waitAroundDoorOperationsInMs)
{
// Check arguments:
if (trainMotor == null)
{
throw new ArgumentNullException(nameof(trainMotor));
}
if (train1ReachedBottomStation == null)
{
throw new ArgumentNullException(nameof(train1ReachedBottomStation));
}
if (train2ReachedBottomStation == null)
{
throw new ArgumentNullException(nameof(train2ReachedBottomStation));
}
if (doorMotor == null)
{
throw new ArgumentNullException(nameof(doorMotor));
}
if (redLight == null)
{
throw new ArgumentNullException(nameof(redLight));
}
if (greenLight == null)
{
throw new ArgumentNullException(nameof(greenLight));
}
if (waitForDoorsToMoveInMs < 0)
{
throw new ArgumentOutOfRangeException(nameof(waitForDoorsToMoveInMs));
}
if (waitWithOpenDoorsInMs < 0)
{
throw new ArgumentOutOfRangeException(nameof(waitWithOpenDoorsInMs));
}
if (waitAroundDoorOperationsInMs < 0)
{
throw new ArgumentOutOfRangeException(nameof(waitAroundDoorOperationsInMs));
}
// Run the train:
bool moveDirection = false;
var trainReachedBottom = new BooleanOrInput(train1ReachedBottomStation, train2ReachedBottomStation);
while (true)
{
// Initialize lamps:
redLight.Value = true;
greenLight.Value = false;
// Move the train in the current direction until one of the end buttons is pressed:
if (!(train1ReachedBottomStation.Value || train2ReachedBottomStation.Value))
{
trainMotor.Value = moveDirection ? 1.0f : -1.0f;
trainReachedBottom.WaitFor(value: true, edgeOnly: false);
trainMotor.Value = 0.0f;
}
moveDirection = !moveDirection;
// Wait a bit before opening the doors:
Thread.Sleep(waitAroundDoorOperationsInMs);
// Open the door:
doorMotor.Value = 1.0f;
Thread.Sleep(waitForDoorsToMoveInMs);
doorMotor.Value = 0.0f;
// Let people step in and out, wait a bit:
redLight.Value = false;
greenLight.Value = true;
Thread.Sleep(waitWithOpenDoorsInMs);
redLight.Value = true;
greenLight.Value = false;
// Close the door:
doorMotor.Value = -1.0f;
Thread.Sleep(waitForDoorsToMoveInMs);
doorMotor.Value = 0.0f;
// Wait a bit before the train starts again:
Thread.Sleep(waitAroundDoorOperationsInMs);
}
}
public void SetConnection(ISingleOutput input)
{
Input = input;
}