public HBridgeMotor (IPwm pwm = null)
{
CalibrationInput = AddInput ("CalibrationInput", Units.Ratio, 1);
SpeedInput = AddInput ("SpeedInput", Units.Ratio, 0);
IsNeutralInput = AddInput ("IsNeutralInput", Units.Boolean, 0);
A1Output = AddOutput ("A1Output", Units.Digital, 0);
A2Output = AddOutput ("A2Output", Units.Digital, 0);
PwmFrequencyOutput = AddOutput ("PwmFrequencyOutput", Units.Frequency, DefaultFrequency);
PwmDutyCycleOutput = AddOutput ("PwmDutyCycleOutput", Units.Ratio, SpeedInput.Value);
// This is a direct connection.
SpeedInput.ValueChanged += (s, e) => Update ();
IsNeutralInput.ValueChanged += (s, e) => Update ();
if (pwm != null) {
PwmFrequencyOutput.ConnectTo (pwm.FrequencyInput);
PwmDutyCycleOutput.ConnectTo (pwm.DutyCycleInput);
}
}
public HBridgeMotor(IPwm pwm = null)
{
CalibrationInput = AddInput("CalibrationInput", Units.Ratio, 1);
SpeedInput = AddInput("SpeedInput", Units.Ratio, 0);
IsNeutralInput = AddInput("IsNeutralInput", Units.Boolean, 0);
A1Output = AddOutput("A1Output", Units.Digital, 0);
A2Output = AddOutput("A2Output", Units.Digital, 0);
PwmFrequencyOutput = AddOutput("PwmFrequencyOutput", Units.Frequency, DefaultFrequency);
PwmDutyCycleOutput = AddOutput("PwmDutyCycleOutput", Units.Ratio, SpeedInput.Value);
// This is a direct connection.
SpeedInput.ValueChanged += (s, e) => Update();
IsNeutralInput.ValueChanged += (s, e) => Update();
if (pwm != null)
{
PwmFrequencyOutput.ConnectTo(pwm.FrequencyInput);
PwmDutyCycleOutput.ConnectTo(pwm.DutyCycleInput);
}
}
