public AdafruitDCMotor(byte num, AdafruitMotorShield adafruit_MotorShield)
{
motornum = num;
ms = adafruit_MotorShield;
if (num == 0)
{
PWMpin = Pin.M1pwr;
IN2pin = Pin.M1in2;
IN1pin = Pin.M1in1;
}
else if (num == 1)
{
PWMpin = Pin.M2pwr;
IN2pin = Pin.M2in2;
IN1pin = Pin.M2in1;
}
else if (num == 2)
{
PWMpin = Pin.M3pwr;
IN2pin = Pin.M3in2;
IN1pin = Pin.M3in1;
}
else if (num == 3)
{
PWMpin = Pin.M4pwr;
IN2pin = Pin.M4in2;
IN1pin = Pin.M4in1;
}
}
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 static void Main()
{
Debug.Print("test app run");
var sh = new AdafruitMotorShield();
var st1 = sh.GetStepper(1);
st1.PerformSteps(1000, Direction.FORWARD);
st1.PerformSteps(1000, Direction.BACKWARD);
st1.PerformSteps(1000, Direction.FORWARD);
st1.PerformSteps(1000, Direction.BACKWARD);
st1.PerformSteps(1000, Direction.FORWARD);
st1.PerformSteps(1000, Direction.BACKWARD);
//var st2 = sh.GetStepper(2);
//st2.PerformSteps(100, Direction.FORWARD);
}
private static IDeviceDelegateOneStep PrepareOneStepDelegate(AdafruitMotorShield ms, byte motorNum, OperationMode operationMode)
{
var stepper = ms.GetStepper(motorNum);
stepper.SetOperationMode(operationMode);
IDeviceDelegateOneStep moveRaw = (steps) => {
if (steps >= 0)
{
stepper.PerformStep(Direction.FORWARD);
}
else
{
stepper.PerformStep(Direction.BACKWARD);
}
};
return(moveRaw);
}
private static void InitializeGCodeParser()
{
settings = new Settings();
settings.OneStepZ_Angle_Positive = 30;
settings.OneStepZ_Angle_Negative = 15;
var servo = new Servo(
PWMChannels.PWM_PIN_D10,
new ServoConfig(0, 180, 500, 2500, 50));
servo.RotateTo(15);
Thread.Sleep(500);
servo.RotateTo(35);
var motorShield = new AdafruitMotorShield();
IDeviceDelegateOneStep oneStepX = PrepareOneStepDelegate(motorShield, 1, OperationMode.FullStep);
IDeviceDelegateOneStep oneStepY = PrepareOneStepDelegate(motorShield, 2, OperationMode.FullStep);
IDeviceDelegateOneStep oneStepZ = (steps) =>
{
var a = servo.Angle;
if (steps >= 0)
{
servo.RotateTo(settings.OneStepZ_Angle_Negative);
}
else
{
servo.RotateTo(settings.OneStepZ_Angle_Positive);
}
if (a != servo.Angle)
{
Thread.Sleep(500);
}
};
IDeviceDelegateStop startX = () => { };
IDeviceDelegateStop startY = () => { };
IDeviceDelegateStop startZ = () => {
servo.RotateTo(settings.OneStepZ_Angle_Negative);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Positive);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Negative);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Positive);
};
IDeviceDelegateStop stopX = () => { motorShield.GetStepper(2).ReleaseHoldingTorque(); };
IDeviceDelegateStop stopY = () => { motorShield.GetStepper(1).ReleaseHoldingTorque(); };
IDeviceDelegateStop stopZ = () => { servo.RotateTo(settings.OneStepZ_Angle_Negative); };
var device = new XYZGantryDevice();
device.SetStepX(oneStepX);
device.SetStepY(oneStepY);
device.SetStepZ(oneStepZ);
device.SetStartX(startX);
device.SetStartY(startY);
device.SetStartZ(startZ);
device.SetStopX(stopX);
device.SetStopY(stopY);
device.SetStopZ(stopZ);
device.Calibrate(25f, 25f, 1);
var machine = new GCodeMachine(device);
parser = new GCodeParser(machine);
}
