private async Task <PCA9685ServoContoller> InitI2cServoController()
{
var device = await FindI2CDevice(_I2CBus, ServoControllerAddress, I2cBusSpeed.FastMode, I2cSharingMode.Shared);
var servoController = new PCA9685ServoContoller(device);
return(servoController);
}
public SonarCoordinator(PCA9685ServoContoller contoller)
{
_contoller = contoller;
//sensor.ProximityReceived += (sender, args) => _lastReading = args;
//sensor.SensorException += (sender, args) => SensorException?.Invoke(this, args); //Pass exceptions from Arduino "sensor" along.
_minServoSetting = 250;
_maxServoSetting = 800;
_contoller.ResetDevice();
_contoller.SetPwmUpdateRate(60);
_contoller.SetPwm(PwmChannel.C0, 0, _minServoSetting);
Task.Delay(500).Wait();
_currentPosition = _minServoSetting;
_arcUnitsPerDegree = (_maxServoSetting - _minServoSetting) / 180d;
_stepSize = (int)Math.Floor(_arcUnitsPerDegree * 5);
_haveReading = () => true; //_lastReading?.RawValue != default(double);
}
