コード例 #1
0
        public async Task StartAsync(CancellationToken cancellationToken)
        {
            await Task.Run(async() =>
            {
                while (!cancellationToken.IsCancellationRequested)
                {
                    // note for myself: 0.5 == 400 rpm. 1.0 = 800 rpm
                    var requestedRpm = motorController.GetRequestedSpeedDutyCycle() * 800;
                    var leftHallEffectSensorResult  = hallEffectController.GetWheelRpm(WheelLocation.Left);
                    var rightHallEffectSensorResult = hallEffectController.GetWheelRpm(WheelLocation.Right);

                    var differenceLeft  = requestedRpm - leftHallEffectSensorResult;
                    var differenceRight = requestedRpm - rightHallEffectSensorResult;

                    motorController.SetForward(requestedRpm + differenceRight, requestedRpm + differenceLeft);

                    // update speed every 50ms, uses delta to set value
                    await Task.Delay(TimeSpan.FromMilliseconds(50), cancellationToken);
                }
            }, cancellationToken);
        }