private static void WritePulseWidth(PwmChannel pwmChannel, ServoMotor servoMotor)
{
servoMotor.Start();
while (true)
{
Console.WriteLine("Enter a pulse width in microseconds ('Q' to quit). ");
string pulseWidth = Console.ReadLine();
if (pulseWidth.ToUpper() == "Q")
{
break;
}
if (!int.TryParse(pulseWidth, out int pulseWidthValue))
{
Console.WriteLine($"Can not parse {pulseWidth}. Try again.");
}
servoMotor.WritePulseWidth(pulseWidthValue);
Console.WriteLine($"Duty Cycle: {pwmChannel.DutyCycle * 100.0}%");
}
servoMotor.Stop();
}
static void WritePulseWidth(PwmChannel pwmChannel, ServoMotor servoMotor)
{
servoMotor.Start();
int pulseWidthValue = 1000;
while (true)
{
//Console.WriteLine("Enter a pulse width in microseconds ('Q' to quit). ");
//string? pulseWidth = Console.ReadLine();
//if (pulseWidth?.ToUpper() is "Q" || pulseWidth?.ToUpper() is null)
//{
// break;
//}
//if (!int.TryParse(pulseWidth, out int pulseWidthValue))
//{
// Console.WriteLine($"Can not parse {pulseWidth}. Try again.");
//}
servoMotor.WritePulseWidth(pulseWidthValue);
Console.WriteLine($"Duty Cycle: {pwmChannel.DutyCycle * 100.0}%");
pulseWidthValue = (pulseWidthValue == 1000) ? 2000 : 1000;
Thread.Sleep(5000);
}
servoMotor.Stop();
}
public void Verify_Duty_Cycle_When_Writing_Pulse_Width(
int frequency,
int pulseWithInMicroseconds,
double expectedDutyCycle)
{
Mock <PwmChannel> mockPwmChannel = new Mock <PwmChannel>();
mockPwmChannel.SetupAllProperties();
mockPwmChannel.Object.Frequency = frequency;
ServoMotor servo = new ServoMotor(mockPwmChannel.Object);
servo.WritePulseWidth(pulseWithInMicroseconds);
Assert.Equal(expectedDutyCycle, mockPwmChannel.Object.DutyCycle, 5);
}
/// <summary> /// Writes a pulse width to the servo motor. /// </summary> /// <param name="microseconds">The pulse width, in microseconds, to write to the servo motor.</param> public void WritePulseWidth(int microseconds) => _servoMotor.WritePulseWidth(microseconds);