public Motor(MotorShield shield, OutputPort port, byte bitmaskUp, byte bitmaskDown)
{
_shield = shield;
_bitmaskUp = bitmaskUp;
_bitmaskDown = bitmaskDown;
_port = port;
}
public static void TestSensors()
{
var hw = IO.Instance;
var ms = new MotorShield();
ms.Start();
TestSensors(ms.MotorCoop, hw.DoorSensorCoopOpened, hw.DoorSensorCoopClosed);
TestSensors(ms.MotorYard, hw.DoorSensorYardOpened, hw.DoorSensorYardClosed);
}
public Machinery()
{
Sequencer = new CommandSequencer();
var hw = IO.Instance;
BoardLED = hw.BoardLED;
// Setup doors with motors
_motorShield = new MotorShield();
DoorCoop = new Door("Coop", _motorShield.MotorCoop, hw.DoorSensorCoopOpened, hw.DoorSensorCoopClosed);
DoorYard = new OfflineDoor("Yard", _motorShield.MotorYard, hw.DoorSensorYardOpened, hw.DoorSensorYardClosed);
// Setup the user input button
PushButton = new PushButton();
// Setup the relays
Power1 = new Relay("Power1", hw.Relay1);
Power2 = new Relay("Power2", hw.Relay2);
}
