public async Task Init() { Debug.WriteLine("Initializing ZumoMotorShield"); Debug.WriteLine(Config.ToString()); var gpioCtrlr = GpioController.GetDefault(); LeftMotorDir = gpioCtrlr.OpenPin(Config.LeftMotorDirPin); Debug.Assert(LeftMotorDir != null); RightMotorDir = gpioCtrlr.OpenPin(Config.RightMotorDirPin); Debug.Assert(RightMotorDir!= null); LeftMotorDir.SetDriveMode(GpioPinDriveMode.Output); RightMotorDir.SetDriveMode(GpioPinDriveMode.Output); PwmDriver = new PCA9685(Config.PwmDriverSlaveAddress); await PwmDriver.Init(); }