public override void Set(double frequency, double dutyCycle)
{
if (frequency < 0)
{
throw new ArgumentException("frequency");
}
if (dutyCycle < 0 || dutyCycle > 1)
{
throw new ArgumentException("dutyCycle");
}
if (_port == null)
{
_port = new Hardware.PWM(_channel, frequency, dutyCycle, _invert);
_port.Start();
_started = true;
}
else
{
if (_started)
{
_port.Stop();
}
_port.Frequency = frequency;
_port.DutyCycle = dutyCycle;
_port.Start();
_started = true;
}
}
private void Move(Direction direction)
{
//Debug.Print((!CANifier.GetGeneralInput(forwardLimitSwitch)).ToString() + (!CANifier.GetGeneralInput(reverseLimitSwitch)).ToString());
if (direction != lastDirection)
{
Thread.Sleep(250);
}
if (direction == Direction.FORWARDS && IsForwardLimitSwitchPressed())
{
Stop();
// Debug.Print("Forward Limit Switch Tripped");
return;
}
else if (direction == Direction.BACKWARDS && IsReverseLimitSwitchPressed())
{
Stop();
// Debug.Print("Reverse Limit Switch Tripped");
return;
}
lastDirection = direction;
if (direction == Direction.STOPPED)
{
movePort.Stop();
return;
}
CANifier.SetGeneralOutput(directionPort, direction == Direction.FORWARDS, true);
movePort.Start();
}
private void PlaySound(uint period, uint duration, int length)
{
var pwm = new PWM(_channel, period, duration, PWM.ScaleFactor.Microseconds, false);
pwm.Start();
Thread.Sleep(length);
pwm.Stop();
}
public static void Main()
{
PWM speaker = new PWM(PWMChannels.PWM_PIN_D5, 2000, 0.95, true);
// Store the notes on the music scale and their associated pulse lengths
System.Collections.Hashtable scale = new System.Collections.Hashtable();
// low octave
scale.Add("c", 1915u);
scale.Add("d", 1700u);
scale.Add("e", 1519u);
scale.Add("f", 1432u);
scale.Add("g", 1275u);
scale.Add("a", 1136u);
scale.Add("b", 1014u);
// upper octave
scale.Add("C", 956u);
scale.Add("D", 851u);
scale.Add("E", 758u);
scale.Add("F", 671u);
scale.Add("G", 594u);
// hold note
scale.Add("H", 0u);
int beatsPerMinute = 90;
int beatTimeInMilliseconds = 60000 / beatsPerMinute;
int pauseTimeInMilliseconds = (int)(beatTimeInMilliseconds * 0.1);
// Define the song (letter of note followed by length of note)
string song = "C1C1C1g1a1a1g2E1E1D1D1C2";
// interpret and play the song
for (int i = 0; i < song.Length; i += 2)
{
//Extract each note and the length in beats
string note = song.Substring(i, 1);
int beatCount = int.Parse(song.Substring(i + 1, 1));
// look up the note duration in milliseconds
uint noteFrequency = (uint)scale[note];
int duration = beatCount * beatTimeInMilliseconds;
// play the note for the desired duration
speaker.Frequency = noteFrequency;
Debug.Print(beatCount + "\t" + beatTimeInMilliseconds + "\t" + pauseTimeInMilliseconds + "\t" + duration + "\t" + speaker.Duration + "\t" + speaker.DutyCycle + "\t" + speaker.Frequency + "\t" + speaker.Period);
speaker.Start();
Thread.Sleep(duration);
speaker.Stop();
// Pause for 1/10th of one beat
Thread.Sleep(pauseTimeInMilliseconds);
}
Thread.Sleep(Timeout.Infinite);
}
public static void Main()
{
// write your code here
var scale = new System.Collections.Hashtable
{
{ "c", 1915u },
{ "d", 1700u },
{ "e", 1519u },
{ "f", 1432u },
{ "g", 1275u },
{ "a", 1136u },
{ "b", 1014u },
{ "C", 956u },
{ "D", 851u },
{ "E", 758u },
{ "h", 0u }
};
int beatsPerMinute = 90;
int beatTimeInMilliseconds = 6000 / beatsPerMinute;
int pauseTimeInMillisenconds = (int)(beatTimeInMilliseconds * 0.1);
string song = "C1C1C1g1a1a1g2E1E1D1D1C2";
PWM speaker = new PWM(PWMChannels.PWM_PIN_D5, 100, .5, false);
speaker.Start();
for (int i = 0; i < song.Length; i += 2)
{
string note = song.Substring(i, 1);
int beatCount = int.Parse(song.Substring(i + 1, 1));
uint noteDuration = (uint)scale[note];
speaker.Duration = noteDuration;
speaker.Period = (noteDuration * 2);
Thread.Sleep(beatTimeInMilliseconds * beatCount - pauseTimeInMillisenconds);
speaker.DutyCycle = 0;
Thread.Sleep(pauseTimeInMillisenconds);
}
speaker.Stop();
Thread.Sleep(Timeout.Infinite);
}
public static void SendBit(PWM infraredOut, OutputPort led, char c)
{
if (c == '1')
{
var startTime = DateTime.Now;
infraredOut.Start();
while (startTime.AddMilliseconds(sleep) > DateTime.Now)
{
led.Write(true);
//noop
}
infraredOut.Stop();
}
else
{
var startTime = DateTime.Now;
while (startTime.AddMilliseconds(sleep) > DateTime.Now)
{
led.Write(false);
//noop
}
startTime = DateTime.Now;
}
}
public static void SendBit(PWM infraredOut, char c)
{
if (c == '1')
{
var startTime = DateTime.Now;
infraredOut.Start();
while (startTime.AddMilliseconds(sleep) > DateTime.Now)
{
}
infraredOut.Stop();
}
else
{
var startTime = DateTime.Now;
while (startTime.AddMilliseconds(sleep) > DateTime.Now)
{
}
startTime = DateTime.Now;
}
}
//public void RotateTo(int angle, double speed)
//{
//}
/// <summary>
/// Stops the signal that controls the servo angle. For many servos, this will
/// return the servo to its nuetral position (usually 0º).
/// </summary>
public void Stop()
{
_pwm.Stop();
_angle = -1;
}
public static void Main()
{
var songs = new[]
{
"The Simpsons:d=4,o=5,b=160:c.6,e6,f#6,8a6,g.6,e6,c6,8a,8f#,8f#,8f#,2g,8p,8p,8f#,8f#,8f#,8g,a#.,8c6,8c6,8c6,c6"
,
"Indiana:d=4,o=5,b=250:e,8p,8f,8g,8p,1c6,8p.,d,8p,8e,1f,p.,g,8p,8a,8b,8p,1f6,p,a,8p,8b,2c6,2d6,2e6,e,8p,8f,8g,8p,1c6,p,d6,8p,8e6,1f.6,g,8p,8g,e.6,8p,d6,8p,8g,e.6,8p,d6,8p,8g,f.6,8p,e6,8p,8d6,2c6"
,
"TakeOnMe:d=4,o=4,b=160:8f#5,8f#5,8f#5,8d5,8p,8b,8p,8e5,8p,8e5,8p,8e5,8g#5,8g#5,8a5,8b5,8a5,8a5,8a5,8e5,8p,8d5,8p,8f#5,8p,8f#5,8p,8f#5,8e5,8e5,8f#5,8e5,8f#5,8f#5,8f#5,8d5,8p,8b,8p,8e5,8p,8e5,8p,8e5,8g#5,8g#5,8a5,8b5,8a5,8a5,8a5,8e5,8p,8d5,8p,8f#5,8p,8f#5,8p,8f#5,8e5,8e5"
,
"Entertainer:d=4,o=5,b=140:8d,8d#,8e,c6,8e,c6,8e,2c.6,8c6,8d6,8d#6,8e6,8c6,8d6,e6,8b,d6,2c6,p,8d,8d#,8e,c6,8e,c6,8e,2c.6,8p,8a,8g,8f#,8a,8c6,e6,8d6,8c6,8a,2d6"
,
"Muppets:d=4,o=5,b=250:c6,c6,a,b,8a,b,g,p,c6,c6,a,8b,8a,8p,g.,p,e,e,g,f,8e,f,8c6,8c,8d,e,8e,8e,8p,8e,g,2p,c6,c6,a,b,8a,b,g,p,c6,c6,a,8b,a,g.,p,e,e,g,f,8e,f,8c6,8c,8d,e,8e,d,8d,c"
,
"Xfiles:d=4,o=5,b=125:e,b,a,b,d6,2b.,1p,e,b,a,b,e6,2b.,1p,g6,f#6,e6,d6,e6,2b.,1p,g6,f#6,e6,d6,f#6,2b.,1p,e,b,a,b,d6,2b.,1p,e,b,a,b,e6,2b.,1p,e6,2b."
,
"Looney:d=4,o=5,b=140:32p,c6,8f6,8e6,8d6,8c6,a.,8c6,8f6,8e6,8d6,8d#6,e.6,8e6,8e6,8c6,8d6,8c6,8e6,8c6,8d6,8a,8c6,8g,8a#,8a,8f"
,
"20thCenFox:d=16,o=5,b=140:b,8p,b,b,2b,p,c6,32p,b,32p,c6,32p,b,32p,c6,32p,b,8p,b,b,b,32p,b,32p,b,32p,b,32p,b,32p,b,32p,b,32p,g#,32p,a,32p,b,8p,b,b,2b,4p,8e,8g#,8b,1c#6,8f#,8a,8c#6,1e6,8a,8c#6,8e6,1e6,8b,8g#,8a,2b"
,
"Bond:d=4,o=5,b=80:32p,16c#6,32d#6,32d#6,16d#6,8d#6,16c#6,16c#6,16c#6,16c#6,32e6,32e6,16e6,8e6,16d#6,16d#6,16d#6,16c#6,32d#6,32d#6,16d#6,8d#6,16c#6,16c#6,16c#6,16c#6,32e6,32e6,16e6,8e6,16d#6,16d6,16c#6,16c#7,c.7,16g#6,16f#6,g#.6"
,
"MASH:d=8,o=5,b=140:4a,4g,f#,g,p,f#,p,g,p,f#,p,2e.,p,f#,e,4f#,e,f#,p,e,p,4d.,p,f#,4e,d,e,p,d,p,e,p,d,p,2c#.,p,d,c#,4d,c#,d,p,e,p,4f#,p,a,p,4b,a,b,p,a,p,b,p,2a.,4p,a,b,a,4b,a,b,p,2a.,a,4f#,a,b,p,d6,p,4e.6,d6,b,p,a,p,2b"
,
"StarWars:d=4,o=5,b=45:32p,32f#,32f#,32f#,8b.,8f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32e6,8c#.6,32f#,32f#,32f#,8b.,8f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32c#6,8b.6,16f#.6,32e6,32d#6,32e6,8c#6"
,
"GoodBad:d=4,o=5,b=56:32p,32a#,32d#6,32a#,32d#6,8a#.,16f#.,16g#.,d#,32a#,32d#6,32a#,32d#6,8a#.,16f#.,16g#.,c#6,32a#,32d#6,32a#,32d#6,8a#.,16f#.,32f.,32d#.,c#,32a#,32d#6,32a#,32d#6,8a#.,16g#.,d#"
,
"TopGun:d=4,o=4,b=31:32p,16c#,16g#,16g#,32f#,32f,32f#,32f,16d#,16d#,32c#,32d#,16f,32d#,32f,16f#,32f,32c#,16f,d#,16c#,16g#,16g#,32f#,32f,32f#,32f,16d#,16d#,32c#,32d#,16f,32d#,32f,16f#,32f,32c#,g#"
,
"A-Team:d=8,o=5,b=125:4d#6,a#,2d#6,16p,g#,4a#,4d#.,p,16g,16a#,d#6,a#,f6,2d#6,16p,c#.6,16c6,16a#,g#.,2a#"
,
"Flinstones:d=4,o=5,b=40:32p,16f6,16a#,16a#6,32g6,16f6,16a#.,16f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c6,d6,16f6,16a#.,16a#6,32g6,16f6,16a#.,32f6,32f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c6,a#,16a6,16d.6,16a#6,32a6,32a6,32g6,32f#6,32a6,8g6,16g6,16c.6,32a6,32a6,32g6,32g6,32f6,32e6,32g6,8f6,16f6,16a#.,16a#6,32g6,16f6,16a#.,16f6,32d#6,32d6,32d6,32d#6,32f6,16a#,16c.6,32d6,32d#6,32f6,16a#,16c.6,32d6,32d#6,32f6,16a#6,16c7,8a#.6"
,
"Jeopardy:d=4,o=6,b=125:c,f,c,f5,c,f,2c,c,f,c,f,a.,8g,8f,8e,8d,8c#,c,f,c,f5,c,f,2c,f.,8d,c,a#5,a5,g5,f5,p,d#,g#,d#,g#5,d#,g#,2d#,d#,g#,d#,g#,c.7,8a#,8g#,8g,8f,8e,d#,g#,d#,g#5,d#,g#,2d#,g#.,8f,d#,c#,c,p,a#5,p,g#.5,d#,g#"
,
"Gadget:d=16,o=5,b=50:32d#,32f,32f#,32g#,a#,f#,a,f,g#,f#,32d#,32f,32f#,32g#,a#,d#6,4d6,32d#,32f,32f#,32g#,a#,f#,a,f,g#,f#,8d#"
,
"Smurfs:d=32,o=5,b=200:4c#6,16p,4f#6,p,16c#6,p,8d#6,p,8b,p,4g#,16p,4c#6,p,16a#,p,8f#,p,8a#,p,4g#,4p,g#,p,a#,p,b,p,c6,p,4c#6,16p,4f#6,p,16c#6,p,8d#6,p,8b,p,4g#,16p,4c#6,p,16a#,p,8b,p,8f,p,4f#"
,
"MahnaMahna:d=16,o=6,b=125:c#,c.,b5,8a#.5,8f.,4g#,a#,g.,4d#,8p,c#,c.,b5,8a#.5,8f.,g#.,8a#.,4g,8p,c#,c.,b5,8a#.5,8f.,4g#,f,g.,8d#.,f,g.,8d#.,f,8g,8d#.,f,8g,d#,8c,a#5,8d#.,8d#.,4d#,8d#."
,
"LeisureSuit:d=16,o=6,b=56:f.5,f#.5,g.5,g#5,32a#5,f5,g#.5,a#.5,32f5,g#5,32a#5,g#5,8c#.,a#5,32c#,a5,a#.5,c#.,32a5,a#5,32c#,d#,8e,c#.,f.,f.,f.,f.,f,32e,d#,8d,a#.5,e,32f,e,32f,c#,d#.,c#"
,
"MissionImp:d=16,o=6,b=95:32d,32d#,32d,32d#,32d,32d#,32d,32d#,32d,32d,32d#,32e,32f,32f#,32g,g,8p,g,8p,a#,p,c7,p,g,8p,g,8p,f,p,f#,p,g,8p,g,8p,a#,p,c7,p,g,8p,g,8p,f,p,f#,p,a#,g,2d,32p,a#,g,2c#,32p,a#,g,2c,a#5,8c,2p,32p,a#5,g5,2f#,32p,a#5,g5,2f,32p,a#5,g5,2e,d#,8d"
,
"axelf2:d=4,o=5,b=125:e,8g.,8e,16e,8a,8e,8d,e,8b.,8e,16e,8c6,8b,8g,8e,8b,8e6,16e,8d,16d,8b4,8f#,e,2p,e,8g.,8e,16e,8a,8e,8d,e,8b.,8e,16e,8c6,8b,8g,8e,8b,8e6,16e,8d,16d,8b4,8f#,e"
,
"StWars:d=4,o=5,b=160:8f,8f,8f,2a#.,2f.6,8d#6,8d6,8c6,2a#.6,f.6,8d#6,8d6,8c6,2a#.6,f.6,8d#6,8d6,8d#6,2c6,p,8f,8f,8f,2a#.,2f.6,8d#6,8d6,8c6,2a#.6,f.6,8d#6,8d6,8c6,2a#.6,f.6,8d#6,8d6,8d#6,2c6"
,
"PacMan:d=4,o=5,b=90:32b,32p,32b6,32p,32f#6,32p,32d#6,32p,32b6,32f#6,16p,16d#6,16p,32c6,32p,32c7,32p,32g6,32p,32e6,32p,32c7,32g6,16p,16e6,16p,32b,32p,32b6,32p,32f#6,32p,32d#6,32p,32b6,32f#6,16p,16d#6,16p,32d#6,32e6,32f6,32p,32f6,32f#6,32g6,32p,32g6,32g#6,32a6,32p,32b.6"
};
var pwm = new PWM(Cpu.PWMChannel.PWM_4, 50, 0, false);
var player = new RttlPlayer(new PwmSpeaker(pwm));
foreach (string song in songs)
player.Play(song);
pwm.Stop();
}
/// <summary>
/// Stops rotation of the servo.
/// </summary>
public void Stop()
{
_pwm.Stop();
_currentDirection = RotationDirection.None;
_currentSpeed = 0.0f;
}
