public void ServoTest_SimpleServoTest()
{
//// TODO should use the hardware from the captured connection
IResourceManager rManager = new ResourceManager(Hardware.IOIO0003);
IOIOConnection ourConn = this.CreateGoodSerialConnection();
this.CreateCaptureLogHandlerSet();
IOIOProtocolIncoming fooIn = new IOIOProtocolIncoming(ourConn.GetInputStream(), HandlerObservable_);
IOIOProtocolOutgoing fooOut = new IOIOProtocolOutgoing(ourConn.GetOutputStream());
System.Threading.Thread.Sleep(20); // wait for us to get the hardware ids
int pwmFrequency = 100;
DigitalOutputSpec pwmPinSpec = new DigitalOutputSpec(3, DigitalOutputSpecMode.NORMAL);
// configure for servo
PwmOutputConfigureCommand commandCreatePWM = new PwmOutputConfigureCommand(pwmPinSpec, pwmFrequency);
commandCreatePWM.Alloc(rManager);
commandCreatePWM.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(100);
for (int i = 0; i < 4; i++)
{
// change it after settling
PwmOutputUpdateCommand lowValue = new PwmOutputUpdatePulseWidthCommand(commandCreatePWM.PwmDef, 600);
lowValue.Alloc(rManager);
lowValue.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(500);
// change it after settling
PwmOutputUpdateCommand highValue = new PwmOutputUpdatePulseWidthCommand(commandCreatePWM.PwmDef, 2000);
highValue.Alloc(rManager);
highValue.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(500);
}
PwmOutputCloseCommand commandReleasePwm = new PwmOutputCloseCommand(commandCreatePWM.PwmDef);
commandReleasePwm.Alloc(rManager);
commandReleasePwm.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(500);
//IEnumerable<IReportAnalogPinValuesFrom> readValues = this.HandlerSingleQueueAllType_.CapturedMessages_
// .OfType<IReportAnalogPinValuesFrom>();
//Assert.IsTrue(readValues.Count() >= 1, "Didn't find the number of expected IReportAnalogPinValuesFrom: " + readValues.Count());
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured " + +this.CapturedSingleQueueAllType_.Count());
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
// should verify close command
}
public void CreateAnalogInputOutputTo_AnalogLoopbackOut31In32()
{
//// TODO should use the hardware from the captured connection
IResourceManager rManager = new ResourceManager(Hardware.IOIO0003);
IOIOConnection ourConn = this.CreateGoodSerialConnection();
this.CreateCaptureLogHandlerSet();
IOIOProtocolIncoming fooIn = new IOIOProtocolIncoming(ourConn.GetInputStream(), HandlerObservable_);
IOIOProtocolOutgoing fooOut = new IOIOProtocolOutgoing(ourConn.GetOutputStream());
System.Threading.Thread.Sleep(100); // wait for us to get the hardware ids
AnalogInputConfigureCommand commandCreateIn = new AnalogInputConfigureCommand(31, true);
commandCreateIn.Alloc(rManager);
commandCreateIn.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(10);
DigitalOutputSpec pwmPinSpec = new DigitalOutputSpec(32, DigitalOutputSpecMode.NORMAL);
// set analog "voltage"
PwmOutputConfigureCommand commandCreatePWM = new PwmOutputConfigureCommand(pwmPinSpec, 1000, 0.3f);
commandCreatePWM.Alloc(rManager);
commandCreatePWM.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(100);
// change it after settling
PwmOutputUpdateCommand commandChangePWM = new PwmOutputUpdateDutyCycleCommand(commandCreatePWM.PwmDef, 0.7f);
commandChangePWM.Alloc(rManager);
commandChangePWM.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(100);
PwmOutputCloseCommand commandReleasePwm = new PwmOutputCloseCommand(commandCreatePWM.PwmDef);
commandReleasePwm.Alloc(rManager);
commandReleasePwm.ExecuteMessage(fooOut);
System.Threading.Thread.Sleep(50);
IEnumerable <IReportAnalogPinValuesFrom> readValues = this.CapturedSingleQueueAllType_
.OfType <IReportAnalogPinValuesFrom>();
Assert.IsTrue(readValues.Count() >= 1, "Didn't find the number of expected IReportAnalogPinValuesFrom: " + readValues.Count());
// logging the messages with any other string doesn't show the messages themselves !?
LOG.Debug("Captured " + this.CapturedSingleQueueAllType_.Count());
LOG.Debug(this.CapturedSingleQueueAllType_.GetEnumerator());
// should verify close command
}
