public async void Run(IBackgroundTaskInstance taskInstance)
{
//
// TODO: Insert code to perform background work
//
// If you start any asynchronous methods here, prevent the task
// from closing prematurely by using BackgroundTaskDeferral as
// described in http://aka.ms/backgroundtaskdeferral
BackgroundTaskDeferral deferral = taskInstance.GetDeferral();
motorHat = new MotorHat();
await motorHat.InitAsync(1600).ConfigureAwait(false);
stepper = motorHat.GetStepper(200, 1); //200 steps/revolution, motor port 1
stepper.SetSpeed(10); //10 rpm
while (true)
{
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.SINGLE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.SINGLE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.DOUBLE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.DOUBLE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.INTERLEAVE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.INTERLEAVE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.MICROSTEP);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.MICROSTEP);
}
}
private async Task RunStepper(MotorHat.Stepper stepper, CancellationToken cancellationToken)
{
while (true)
{
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.SINGLE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.SINGLE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.DOUBLE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.DOUBLE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.INTERLEAVE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.INTERLEAVE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.MICROSTEP);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.MICROSTEP);
}
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
//
// TODO: Insert code to perform background work
//
// If you start any asynchronous methods here, prevent the task
// from closing prematurely by using BackgroundTaskDeferral as
// described in http://aka.ms/backgroundtaskdeferral
//
BackgroundTaskDeferral deferral = taskInstance.GetDeferral();
motorHat = new MotorHat();
await motorHat.InitAsync(1600).ConfigureAwait(false);
stepper1 = motorHat.GetStepper(200, 1); //200 steps/revolution, stepper port 1
// stepper2 = motorHat.GetStepper(200, 2); //200 steps/revolution, stepper port 2
stepper1.SetSpeed(10); //10 rpm
// stepper2.SetSpeed(10); //10 rpm
//dcMotor1 = motorHat.GetMotor(3); //motor port 3
dcMotor2 = motorHat.GetMotor(4); //motor port 4
Stepper1CancellationTokenSource = new CancellationTokenSource();
//Stepper2CancellationTokenSource = new CancellationTokenSource();
//Motor1CancellationTokenSource = new CancellationTokenSource();
Motor2CancellationTokenSource = new CancellationTokenSource();
Task stepper1Task = Task.Run(() => RunStepper(stepper1, Stepper1CancellationTokenSource.Token));
//Task stepper2Task = Task.Run(() => RunStepper(stepper2, Stepper2CancellationTokenSource.Token));
//Task motor1Task = Task.Run(() => RunMotor(dcMotor1, Motor1CancellationTokenSource.Token));
Task motor2Task = Task.Run(() => RunMotor(dcMotor2, Motor2CancellationTokenSource.Token));
List <Task> tasks = new List <Task>();
tasks.Add(stepper1Task);
// tasks.Add(stepper2Task);
//tasks.Add(motor1Task);
tasks.Add(motor2Task);
Task.WaitAll(tasks.ToArray());
deferral.Complete();
}
