/// <summary>
/// Set the PWM Speed. The speed can be between PWM_MIN and PWM_MAX
/// </summary>
public void SetPWM(Digital.DigitalPortEnum pwmPort, int speed)
{
if (!_ezb.IsConnected)
{
return;
}
if (speed > PWM_MAX)
{
speed = PWM_MAX;
}
else if (speed < PWM_MIN)
{
speed = PWM_MIN;
}
if (speed == 0)
{
StopPWM(pwmPort);
return;
}
_pwmPositions[(int)pwmPort] = speed;
_pwmReleased[(int)pwmPort] = false;
_ezb.sendCommand(EZB.CommandEnum.CmdSetPWMSpeed + (byte)pwmPort, new byte[] { (byte)speed });
}
/// <summary>
/// Stop PWM.
/// </summary>
public void StopPWM(Digital.DigitalPortEnum pwmPort)
{
_pwmPositions[(int)pwmPort] = 0;
_pwmReleased[(int)pwmPort] = true;
_ezb.sendCommand(EZB.CommandEnum.CmdSetPWMSpeed + (byte)pwmPort, new byte[] { (byte)0 });
}
/// <summary>
/// Get the value received from the HC-SR04 Ping Sensor
/// </summary>
public async Task <int> GetValue(Digital.DigitalPortEnum triggerPort, Digital.DigitalPortEnum echoPort)
{
int index = (int)triggerPort;
if (lastRequest[index].AddMilliseconds(MinPoolTimeMS) > DateTime.Now)
{
return(lastValue[index]);
}
byte retVal = (await _ezb.sendCommand(1, EZB.CommandEnum.CmdHC_SR04 + (byte)triggerPort, (byte)echoPort))[0];
lastValue[index] = retVal;
lastRequest[index] = DateTime.Now;
return(retVal);
}
/// <summary>
/// Send text over serial specified serial port at baud rate
/// </summary>
public void SendSerial(Digital.DigitalPortEnum digitalPort, BAUD_RATE_ENUM baudRate, byte[] byteArray)
{
if (!_ezb.IsConnected)
{
throw new Exception("Not connected");
}
foreach (byte [] bArray in Functions.Chunk(byteArray, 255))
{
List <byte> send = new List <byte>();
send.Add((byte)baudRate);
send.Add((byte)bArray.Length);
send.AddRange(bArray);
_ezb.sendCommand(EZB.CommandEnum.CmdSendSerial + (byte)digitalPort, send.ToArray());
}
}
/// <summary>
/// Return true if the specified pwm port is in a stopped state
/// </summary>
public bool IsPWMStopped(Digital.DigitalPortEnum pwmPort)
{
return(_pwmReleased[(int)pwmPort]);
}
/// <summary>
/// Get the PWM
/// </summary>
public int GetPWM(Digital.DigitalPortEnum pwmPort)
{
return(_pwmPositions[(int)pwmPort]);
}
/// <summary>
/// Send text over serial specified serial port at baud rate
/// </summary>
public void SendSerial(Digital.DigitalPortEnum digitalPort, BAUD_RATE_ENUM baudRate, char[] charArray)
{
SendSerial(digitalPort, baudRate, Encoding.UTF8.GetBytes(charArray));
}
/// <summary>
/// Send text over serial specified serial port at baud rate
/// </summary>
public void SendSerial(Digital.DigitalPortEnum digitalPort, BAUD_RATE_ENUM baudRate, string text)
{
SendSerial(digitalPort, baudRate, text.Select(Convert.ToByte).ToArray());
}
