static void WriteAngle(PwmChannel pwmChannel, ServoMotor servoMotor)
{
servoMotor.Start();
while (true)
{
Console.WriteLine("Enter an angle ('Q' to quit). ");
string?angle = Console.ReadLine();
if (angle?.ToUpper() is "Q" || angle?.ToUpper() is null)
{
break;
}
if (!int.TryParse(angle, out int angleValue))
{
Console.WriteLine($"Can not parse {angle}. Try again.");
}
servoMotor.WriteAngle(angleValue);
Console.WriteLine($"Duty Cycle: {pwmChannel.DutyCycle * 100.0}%");
}
servoMotor.Stop();
}
static void WritePulseWidth(PwmChannel pwmChannel, ServoMotor servoMotor)
{
servoMotor.Start();
int pulseWidthValue = 1000;
while (true)
{
//Console.WriteLine("Enter a pulse width in microseconds ('Q' to quit). ");
//string? pulseWidth = Console.ReadLine();
//if (pulseWidth?.ToUpper() is "Q" || pulseWidth?.ToUpper() is null)
//{
// break;
//}
//if (!int.TryParse(pulseWidth, out int pulseWidthValue))
//{
// Console.WriteLine($"Can not parse {pulseWidth}. Try again.");
//}
servoMotor.WritePulseWidth(pulseWidthValue);
Console.WriteLine($"Duty Cycle: {pwmChannel.DutyCycle * 100.0}%");
pulseWidthValue = (pulseWidthValue == 1000) ? 2000 : 1000;
Thread.Sleep(5000);
}
servoMotor.Stop();
}
private static void WritePulseWidth(PwmChannel pwmChannel, ServoMotor servoMotor)
{
servoMotor.Start();
while (true)
{
Console.WriteLine("Enter a pulse width in microseconds ('Q' to quit). ");
string pulseWidth = Console.ReadLine();
if (pulseWidth.ToUpper() == "Q")
{
break;
}
if (!int.TryParse(pulseWidth, out int pulseWidthValue))
{
Console.WriteLine($"Can not parse {pulseWidth}. Try again.");
}
servoMotor.WritePulseWidth(pulseWidthValue);
Console.WriteLine($"Duty Cycle: {pwmChannel.DutyCycle * 100.0}%");
}
servoMotor.Stop();
}
private static void WriteAngle(PwmChannel pwmChannel, ServoMotor servoMotor)
{
servoMotor.Start();
while (true)
{
Console.WriteLine("Enter an angle ('Q' to quit). ");
string angle = Console.ReadLine();
if (angle.ToUpper() == "Q")
{
break;
}
if (!int.TryParse(angle, out int angleValue))
{
Console.WriteLine($"Can not parse {angle}. Try again.");
}
servoMotor.WriteAngle(angleValue);
Console.WriteLine($"Duty Cycle Percentage: {pwmChannel.DutyCyclePercentage}");
}
servoMotor.Stop();
}
public void Pwm_Channel_Should_Start_And_Stop_When_Starting_And_Stopping_Servo()
{
Mock <PwmChannel> mockPwmChannel = new Mock <PwmChannel>();
ServoMotor servo = new ServoMotor(mockPwmChannel.Object);
servo.Start();
mockPwmChannel.Verify(channel => channel.Start());
mockPwmChannel.VerifyNoOtherCalls();
mockPwmChannel.Reset();
servo.Stop();
mockPwmChannel.Verify(channel => channel.Stop());
mockPwmChannel.VerifyNoOtherCalls();
}
static void TestRotate()
{
Console.WriteLine("Testing a servo motor controlled by a rotary encoder");
var angle = 0;
const int step = 10;
using (var left = Pi.Gpio.Pin(leftPin, PinKind.InputPullUp))
using (var right = Pi.Gpio.Pin(rightPin, PinKind.InputPullUp))
using (var servo = new ServoMotor(maxAngle))
{
servo.PulseWidths(0.5, 2.5);
servo.Start();
// Connect rotate and click events
left.OnRisingEdge += Rotate;
Console.WriteLine("Click the button to stop this test");
Pi.Gpio.Pin(buttonPin, PinKind.InputPullUp).WaitForEdge(PinEdge.Rising);
left.OnRisingEdge -= Rotate;
servo.Angle = 0;
Pi.Wait(2000);
servo.Stop();
// Called on the falling edge of the left pin
void Rotate(object sender, PinEventHandlerArgs args)
{
if (args.Bounced)
{
return;
}
var a = angle;
a += left.Value == right.Value ? -step : step;
if (a < 0)
{
a = 0;
}
if (a > maxAngle)
{
a = maxAngle;
}
if (a != angle)
{
Console.WriteLine("servo angle at {0}°", servo.Angle = angle = a);
}
}
}
}
/// <summary> /// Stops the servo motor. /// </summary> public void Stop() => _servoMotor.Stop();
static async Task Main(string[] args)
{
Console.WriteLine("Hello World!");
using PwmChannel pwmChannel1 = PwmChannel.Create(0, 0, 50);
using ServoMotor servoMotor1 = new ServoMotor(
pwmChannel1,
180,
700,
2400);
using PwmChannel pwmChannel2 = PwmChannel.Create(0, 1, 50);
using ServoMotor servoMotor2 = new ServoMotor(
pwmChannel2,
180,
700,
2400);
using SoftwarePwmChannel pwmChannel3 = new SoftwarePwmChannel(27, 50, 0.5);
using ServoMotor servoMotor3 = new ServoMotor(
pwmChannel3,
180,
900,
2100);
servoMotor1.Start();
servoMotor2.Start();
servoMotor3.Start();
connection = new HubConnectionBuilder()
.WithUrl("https://192.168.1.162:5001/chathub", conf =>
{
conf.HttpMessageHandlerFactory = (x) => new HttpClientHandler
{
ServerCertificateCustomValidationCallback = HttpClientHandler.DangerousAcceptAnyServerCertificateValidator,
};
})
.Build();
try
{
connection.On <string, string>("ReceiveMessage", (user, message) =>
{
if (user == "servo1")
{
MoveToAngle(servoMotor1, Int32.Parse(message));
}
else if (user == "servo2")
{
MoveToAngle(servoMotor2, Int32.Parse(message));
}
else if (user == "servo3")
{
MoveToAngle(servoMotor3, Int32.Parse(message));
}
Console.WriteLine($"{message} posted by: {user}");
});
await connection.StartAsync();
}
catch (System.Exception)
{
throw;
}
//
// Keep the code running...
//
while (true)
{
}
servoMotor1.Stop();
servoMotor2.Stop();
servoMotor3.Stop();
}
