/// <summary>
/// Initializes a new instance of the <see cref="MultiplexedHBridge" /> class.
/// </summary>
/// <param name="speedControl">The PWM channel that will control the output power (5KHz max).</param>
/// <param name="outputShiftRegister">The output shift register that controls the L293D H-Bridge.</param>
/// <param name="directionA">The bit number in the shift register output that controls IN1 on the L293D.</param>
/// <param name="directionB">The bit number in the shift register output that controls IN2 on the L293D.</param>
public MultiplexedHBridge(PWM speedControl,
SerialShiftRegister outputShiftRegister,
ushort directionA,
ushort directionB)
{
this.speedControl = speedControl;
this.outputShiftRegister = outputShiftRegister;
this.directionA = directionA;
this.directionB = directionB;
// For efficiency, initialise some direction transactions ready for use later.
forwardTransaction = new[]
{
new ShiftRegisterOperation(directionA, true),
new ShiftRegisterOperation(directionB, false)
};
reverseTransaction = new[]
{
new ShiftRegisterOperation(directionA, false),
new ShiftRegisterOperation(directionB, true)
};
brakeTransaction = new[]
{
new ShiftRegisterOperation(directionA, true),
new ShiftRegisterOperation(directionB, true)
};
releaseTransaction = new[]
{
new ShiftRegisterOperation(directionA, false),
new ShiftRegisterOperation(directionB, false)
};
InitializeOutputs(); // Ensure the outputs are in a sane, safe state.
}
/// <summary>
/// Initializes a new instance of the <see cref="AdafruitV1MotorShield"/> class using the default hardware outputs.
/// </summary>
public AdafruitV1MotorShield()
{
latch = new OutputPort(Pins.GPIO_PIN_D12, false);
enable = new OutputPort(Pins.GPIO_PIN_D7, true);
data = new OutputPort(Pins.GPIO_PIN_D8, false);
clock = new OutputPort(Pins.GPIO_PIN_D4, false);
serialShiftRegister = new SerialShiftRegister(enable, clock, data, latch);
}
/// <summary>
/// Initializes a new instance of the <see cref="AdafruitV1MotorShield" /> class.
/// </summary>
/// <param name="latch">The latch store register clock pin (STCP).</param>
/// <param name="enable">The latch output enable pin (OE).</param>
/// <param name="data">The latch serial data pin (DS).</param>
/// <param name="clock">The latch shift register clock pin (SHCP).</param>
public AdafruitV1MotorShield(OutputPort latch, OutputPort enable, OutputPort data, OutputPort clock)
{
this.latch = latch;
this.enable = enable;
this.data = data;
this.clock = clock;
serialShiftRegister = new SerialShiftRegister(enable, clock, data, latch);
}