public ArduinoSession GetArduinoSession()
{
if (arduinoSession == null)
{
var connection = GetConnection();
var session = new ArduinoSession(connection);
var firmware = session.GetFirmware();
if (firmware.MajorVersion >= 2)
{
session.ResetBoard();
//步进电机
session.CreateStepperMoveCompleteMonitor().Monitor(f =>
{
GetStepperStep(f.DeviceNumber).Invoke(f.DeviceNumber);
});
session.CreateReceivedStringMonitor().Monitor(f =>
{
});
session.StepperConfiguration(0, new DeviceConfig
{
MotorInterface = DeviceConfig.MotorInterfaceType.Driver,
StepOrPin1Number = 26,
DirectionOrPin2Number = 28,
EnablePinNumber = 24,
InvertEnablePinNumber = true
});
session.StepperEnable(0, true);
session.StepperSetSpeed(0, 32767);
session.StepperSetScceleration(0, 5000);
arduinoSession = session;
}
else
{
session.Dispose();
throw new Exception("读取设备失败");
}
}
return(arduinoSession);
}