public static void Run()
{
var shield = new AdafruitMotorShield();
var robot = new TwoWheeledRobot(shield.GetMotor(1), shield.GetMotor(2));
new SineWave(0.1, 0.5, 0.5, updateFrequency: 9).Output.ConnectTo(robot.SpeedInput);
new SineWave(0.5, 0.333, 0, updateFrequency: 11).Output.ConnectTo(robot.DirectionInput);
}
public AdafruitDCMotor(AdafruitMotorShield shield, byte pwmPin, byte in1Pin, byte in2Pin)
{
this.shield = shield;
this.pwmPin = pwmPin;
this.in1Pin = in1Pin;
this.in2Pin = in2Pin;
SpeedInput = AddInput("SpeedInput", Units.Ratio);
IsNeutralInput = AddInput("IsNeutralInput", Units.Boolean);
SetDirection();
SetSpeed();
SpeedInput.ValueChanged += (s, e) => {
var newlyReversed = SpeedInput.Value < 0;
if (newlyReversed != isReversed)
{
SetDirection();
}
SetSpeed();
};
}
public AdafruitDCMotor (AdafruitMotorShield shield, byte pwmPin, byte in1Pin, byte in2Pin)
{
this.shield = shield;
this.pwmPin = pwmPin;
this.in1Pin = in1Pin;
this.in2Pin = in2Pin;
SpeedInput = AddInput ("SpeedInput", Units.Ratio);
IsNeutralInput = AddInput ("IsNeutralInput", Units.Boolean);
SetDirection ();
SetSpeed ();
SpeedInput.ValueChanged += (s, e) => {
var newlyReversed = SpeedInput.Value < 0;
if (newlyReversed != isReversed) {
SetDirection ();
}
SetSpeed ();
};
}
