protected PwmController CreatePwmController()
{
PwmDriver pwmDriver = DriverFactory.CreateFromEnum <PwmDriver, PwmDriverType>(this.Driver);
return(pwmDriver != null
? new PwmController(pwmDriver)
: new PwmController());
}
public Task Buzz(float frequency, uint durationMs)
{
return(ThreadPool.RunAsync(async(s) =>
{
PwmDriver.SetChannelDutyCycle(Config.BuzzerPwmChannel, 0.5f);
await Task.Delay((int)durationMs);
PwmDriver.SetChannelDutyCycle(Config.BuzzerPwmChannel, 0.0f);
}).AsTask());
}
private async void Test(object sender, RoutedEventArgs e)
{
_driver = await PwmDriver.Init();
while (true)
{
if (_driver.IsDevicedInited)
{
_driver.DrivePercentage(0, 0);
System.Threading.Tasks.Task.Delay(2000).Wait();
_driver.DrivePercentage(0, 100);
}
}
}
public void Dispose()
{
if (PwmDriver != null)
{
LeftMotorStop();
RightMotorStop();
PwmDriver.Dispose();
PwmDriver = null;
}
LeftMotorDir.Dispose();
RightMotorDir.Dispose();
}
public void SetRightMotorPower(ZumoMotorDirection dir, float power)
{
Debug.WriteLine("RightMotor: {0} {1}", dir, power * 100.0f);
if (dir == ZumoMotorDirection.Forward)
{
RightMotorDir.Write(GpioPinValue.Low);
}
else
{
RightMotorDir.Write(GpioPinValue.High);
}
PwmDriver.SetChannelDutyCycle(Config.RightPwmChannel, power);
rightMotorPower = power;
rightDir = dir;
}
public void SetBrightness(float percentage) => PwmDriver.SetDutyCylce(percentage);
