public BitBotController(PCA9685Controller pcaController,
PwmChannel buzzer,
AdcChannel leftLineSensor,
AdcChannel rightLineSensor,
GpioPin distanceTrigPin,
GpioPin distanceEchoPin,
GpioPin frontSensorEnable,
AdcChannel frontSensorValue,
GpioPin colorLedPin)
{
this.pcaController = pcaController;
this.buzzer = buzzer;
this.pcaController.SetFrequency(50);
this.frontSensorEnable = frontSensorEnable;
this.frontSensorValue = frontSensorValue;
this.leftLineSensor = leftLineSensor;
this.rightLineSensor = rightLineSensor;
this.pulseFeedback = new PulseFeedback(distanceTrigPin, distanceEchoPin, PulseFeedbackMode.EchoDuration)
{
DisableInterrupts = false,
Timeout = TimeSpan.FromSeconds(1),
PulseLength = TimeSpan.FromTicks(100),
PulseValue = GpioPinValue.High,
EchoValue = GpioPinValue.High,
};
this.frontSensorEnable.SetDriveMode(GpioPinDriveMode.Output);
this.frontSensorEnable.Write(GpioPinValue.High);
var sg = new SignalGenerator(colorLedPin);
this.ws2812 = new WS2812Controller(sg, 3);
}
/// <summary>
/// Constructor of HC-SR04
/// </summary>
/// <param name="triggerPin">pin connected to trigger pin</param>
/// <param name="echoPin">pin connected to echo pin</param>
public Hcsr04(int triggerPin, int echoPin)
{
//_pulse = new GpioPulseReaderWriter(GpioPulseReaderWriter.Mode.EchoDuration, true, 10, triggerPin, true, echoPin);
_pulse = new PulseFeedback(triggerPin, echoPin, PulseFeedbackMode.EchoDuration)
{
PulseLength = TimeSpan.FromTicks(10 * 10)
};
}
/// <summary>
/// Constructor of HC-SR04
/// </summary>
/// <param name="signalPin">pin connected to trigger and echo pin</param>
public UltrasonicRanger(int signalPin)
{
//_pulse = new GpioPulseReaderWriter(
// GpioPulseReaderWriter.Mode.EchoDuration, true, 10, signalPin);
// Note:
// 1 tick = 100ns
// 100 ticks = 10us
_pulse = new PulseFeedback(signalPin, PulseFeedbackMode.EchoDuration)
{
PulseLength = TimeSpan.FromTicks(100)
};
}
/// <summary>
/// Reads the value of the pad.
/// </summary>
/// <param name="pad">The <see cref="Pad" /> to check.</param>
/// <returns>The value of the pad.</returns>
public static long RawRead(Pad pad)
{
if (_pins[0] == null)
{
_pins[0] = new PulseFeedback(PulseFeedback.Mode.DrainDuration, true, 10, (Cpu.Pin) 32);
_pins[1] = new PulseFeedback(PulseFeedback.Mode.DrainDuration, true, 10, (Cpu.Pin) 33);
_pins[2] = new PulseFeedback(PulseFeedback.Mode.DrainDuration, true, 10, (Cpu.Pin) 34);
}
switch (pad)
{
case Pad.Left: return(_pins[0].Read());
case Pad.Middle: return(_pins[1].Read());
case Pad.Right: return(_pins[2].Read());
default: return(0);
}
}
static void TestTouchPads()
{
var pulse = new PulseFeedback(GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP0),
PulseFeedbackMode.DrainDuration)
{
DisableInterrupts = true,
Timeout = TimeSpan.FromSeconds(1),
PulseLength = TimeSpan.FromMilliseconds(1),
PulseValue = GpioPinValue.High,
//EchoPinValue = GpioPinValue.High,
//PulsePinDriveMode = GpioPinDriveMode.Input,
//EchoPinDriveMode = GpioPinDriveMode.Input
};
while (true)
{
var d = pulse.Trigger();
Thread.Sleep(250);
}
}
public TinyBitController(I2cController i2cController, PwmChannel buzzer, AdcChannel voiceSensor, GpioPin leftLineSensor, GpioPin rightLineSensor, GpioPin distanceTrigger, GpioPin distanceEcho, int colorLedPin)
{
this.i2c = i2cController.GetDevice(new I2cConnectionSettings(0x01, 400_000));
this.buzzer = buzzer;
this.voiceSensor = voiceSensor;
this.leftLineSensor = leftLineSensor;
this.leftLineSensor.SetDriveMode(GpioPinDriveMode.Input);
this.rightLineSensor = rightLineSensor;
this.rightLineSensor.SetDriveMode(GpioPinDriveMode.Input);
this.ws2812 = new WS2812(GpioController.GetDefault().OpenPin(colorLedPin), 2);
this.distanceEcho = distanceEcho;
this.distanceTrigger = distanceTrigger;
this.pulseFeedback = new PulseFeedback(distanceTrigger, this.distanceEcho, PulseFeedbackMode.EchoDuration)
{
DisableInterrupts = false,
Timeout = TimeSpan.FromSeconds(1),
PulseLength = TimeSpan.FromTicks(100),
PulseValue = GpioPinValue.High,
EchoValue = GpioPinValue.High,
};
}
/// <summary>
/// Reads the value of the pad.
/// </summary>
/// <param name="pad">The <see cref="Pad" /> to check.</param>
/// <returns>The value of the pad.</returns>
public static long RawRead(Pad pad)
{
if (_pins[0] == null)
{
_pins[0] = new PulseFeedback(PulseFeedback.Mode.DrainDuration, true, 10, (Cpu.Pin)32);
_pins[1] = new PulseFeedback(PulseFeedback.Mode.DrainDuration, true, 10, (Cpu.Pin)33);
_pins[2] = new PulseFeedback(PulseFeedback.Mode.DrainDuration, true, 10, (Cpu.Pin)34);
}
switch (pad)
{
case Pad.Left: return _pins[0].Read();
case Pad.Middle: return _pins[1].Read();
case Pad.Right: return _pins[2].Read();
default: return 0;
}
}
