public void Command(PwmCommand pwmCommand)
{
Log.DebugFormat("PwmCommand received({0})!", pwmCommand);
switch (pwmCommand.Channel)
{
case DeviceChannel.DcMotor:
var percent = pwmCommand.DutyCyclePercent;
var direction = percent > 0 ? MotorDirection.Forward : MotorDirection.Reverse;
DcMotor.Go(Math.Abs(percent), direction);
break;
case DeviceChannel.Led:
Led0.On(pwmCommand.DutyCyclePercent);
break;
case DeviceChannel.Servo:
Servo.MoveTo(pwmCommand.DutyCyclePercent);
break;
}
}
public void AllStop()
{
Log.Info("All stop");
Led0.Off();
DcMotor.Stop();
}
