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();
}
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 Exception_Should_Throw_When_Writing_Invalid_Angle(int maximumAngle, int angle)
{
Mock <PwmChannel> mockPwmChannel = new Mock <PwmChannel>();
ServoMotor servoMotor = new ServoMotor(mockPwmChannel.Object, maximumAngle);
Assert.Throws <ArgumentOutOfRangeException>(() =>
{
servoMotor.WriteAngle(angle);
});
}
public void Verify_Duty_Cycle_When_Writing_Angle(
int frequency,
int maxiumAngle,
int minimumPulseWidthMicroseconds,
int maximumPulseWidthMicroseconds,
int angle,
double expectedDutyCycle)
{
Mock <PwmChannel> mockPwmChannel = new Mock <PwmChannel>();
mockPwmChannel.SetupAllProperties();
mockPwmChannel.Object.Frequency = frequency;
ServoMotor servo = new ServoMotor(
mockPwmChannel.Object,
maxiumAngle,
minimumPulseWidthMicroseconds,
maximumPulseWidthMicroseconds);
servo.WriteAngle(angle);
Assert.Equal(expectedDutyCycle, mockPwmChannel.Object.DutyCycle, 5);
}
/// <summary> /// Writes an angle to the servo motor. /// </summary> /// <param name="angle">The angle to write to the servo motor.</param> public void WriteAngle(double angle) => _servoMotor.WriteAngle(angle);
static void MoveToAngle(ServoMotor Servo, int Angle)
{
Servo.WriteAngle(Angle);
}
