/// <summary>
///
/// </summary>
/// <param name="gearPwm">PWM port for controlling servo</param>
public GearBox(IPwmPort gearPwm)
{
pwm = gearPwm;
ServoConfig config = new ServoConfig(new Angle(0), new Angle(180), 500, 2500, 50);
servo = new Servo(pwm, config);
}
public IContinuousRotationServo GetContinuousRotatioServo(byte portIndex, ServoConfig servoConfig)
{
if ((portIndex < 0) || (portIndex > portCount))
{
throw new ArgumentException($"Continuous Rotatio Servo num must be between 1 and {portCount}", "num");
}
var pwm = pca9685.CreatePwmPort(portIndex);
var servo = new ContinuousRotationServo(pwm, servoConfig);
return(servo);
}
public IContinuousRotationServo GetContinuousRotatioServo(byte num, ServoConfig servoConfig)
{
if ((num < 0) || (num > _ports))
{
throw new ArgumentException($"Continuous Rotatio Servo num must be between 1 and {_ports}", "num");
}
IPwmPort pwm = _pca9685.CreatePwmPort(num);
ContinuousRotationServo servo = new ContinuousRotationServo(pwm, servoConfig);
return(servo);
}
/// <summary>
/// Basic constructor
/// </summary>
/// <param name="ver">Vertical movement servo PWM port</param>
/// <param name="hor">Horizontal movement servo PWM port</param>
/// <param name="s">Inertial Measurement Unit to check current device position</param>
public CameraGimbal(IPwmPort ver, IPwmPort hor, IPositionSensor s)
{
horizontalPort = hor;
verticalPort = ver;
horizontalCoinfig = new ServoConfig(minServoAngle, maxServoAngle, 370, 2700, 50);
verticalConfig = new ServoConfig(minServoAngle, maxServoAngle, 370, 2700, 50);
horizontal = new Servo(horizontalPort, horizontalCoinfig);
vertical = new Servo(verticalPort, verticalConfig);
sensor = s;
source = new CancellationTokenSource();
angleDelta = maxServoAngle - maxAngle;
quarterCircle = fullCircle / 4;
locker = new object();
Test();
#if DEBUG
stopwatch = new Stopwatch();
#endif
}
public MeadowApp()
{
var servoConfig = new ServoConfig(
minimumAngle: 0,
maximumAngle: 180,
minimumPulseDuration: 700,
maximumPulseDuration: 3000,
frequency: 50);
servo = new Servo(Device.CreatePwmPort(Device.Pins.D03), servoConfig);
servo.RotateTo(0);
button = new PushButton(Device, Device.Pins.D04);
button.DebounceDuration = new TimeSpan(100);
button.Clicked += ButtonClicked;
//this.changeTimer.AutoReset = true;
this.changeTimer.Elapsed += ChangeTimer_Elapsed;
this.changeTimer.Start();
// Keeps the app running
Thread.Sleep(Timeout.Infinite);
}
