private void Run(string[] args)
{
// Creating this from static causes an exception in Raspian. Not in ubunti though?
Log = LogManager.GetCurrentClassLogger();
var options = new ConsoleOptions(args);
if (options.ShowHelp)
{
Console.WriteLine("Options:");
options.OptionSet.WriteOptionDescriptions(Console.Out);
return;
}
var deviceFactory = new Pca9685DeviceFactory();
var device = deviceFactory.GetDevice(options.UseFakeDevice);
var motorController = new PwmController(device);
motorController.Init();
Log.InfoFormat("RPi.Console running with {0}", options);
switch (options.Mode)
{
case Mode.DcMotor:
RunDcMotor(motorController);
break;
case Mode.Servo:
RunServo(motorController);
break;
case Mode.Stepper:
motorController.Stepper.Rotate(600);
break;
case Mode.Led:
RunLed(motorController);
break;
case Mode.RawPwm:
RunRawPwm(device);
break;
case Mode.AlarmClock:
var alarmClock = new AlarmClock(motorController);
alarmClock.Set(options.AlarmDate);
alarmClock.WaitForAlarm();
break;
case Mode.SignalRTest:
var signalRConnection = new SignalRConnection(motorController);
signalRConnection.Run();
break;
}
motorController.AllStop();
deviceFactory.Dispose();
//http://nlog-project.org/2011/10/30/using-nlog-with-mono.html
// NLog.LogManager.Configuration = null;
}
private static PwmController GetPwmController(ConsoleOptions options)
{
var deviceFactory = new Pca9685DeviceFactory();
var device = deviceFactory.GetDevice(options.UseFakeDevice);
var motorController = new PwmController(device);
motorController.Init();
return motorController;
}
private void FrmMain_Load(object sender, EventArgs e)
{
_deviceFactory = new Pca9685DeviceFactory();
var device = _deviceFactory.GetDevice();
_motorController = new PwmController(device);
_motorController.Init();
//LogBus.Instance.LogReceived += Instance_LogReceived;
}
public SignalRConnection(PwmController pwmController)
{
_pwmController = pwmController;
}
private static void RunServo(PwmController motorController)
{
motorController.Servo.MoveTo(0);
Thread.Sleep(1000);
motorController.Servo.MoveTo(100);
Thread.Sleep(1000);
motorController.Servo.MoveTo(50);
Thread.Sleep(1000);
}
private static void RunDcMotor(PwmController motorController)
{
for (int i = 10; i <= 100; i += 10)
{
motorController.DcMotor.Go(i);
Thread.Sleep(1000);
}
motorController.DcMotor.Stop();
Thread.Sleep(1000);
for (int i = 10; i <= 100; i += 10)
{
motorController.DcMotor.Go(i, MotorDirection.Reverse);
Thread.Sleep(1000);
}
motorController.DcMotor.Stop();
}
private static void RunLed(PwmController motorController)
{
for (int i = 0; i < 20; i++)
{
motorController.Led0.On();
Thread.Sleep(100);
motorController.Led0.Off();
Thread.Sleep(100);
}
for (int i = 0; i <= 100; i++)
{
motorController.Led0.On(i);
Thread.Sleep(10);
}
for (int i = 100; i >= 0; i--)
{
motorController.Led0.On(i);
Thread.Sleep(10);
}
motorController.Led0.Off();
}
public AlarmClock(PwmController pwmController)
{
_pwmController = pwmController;
}