public void Dispose()
{
if (PwmDriver != null)
{
LeftMotorStop();
RightMotorStop();
PwmDriver.Dispose();
PwmDriver = null;
}
LeftMotorDir.Dispose();
RightMotorDir.Dispose();
}
public void SetRightMotorPower(ZumoMotorDirection dir, float power)
{
Debug.WriteLine("RightMotor: {0} {1}", dir, power * 100.0f);
if (dir == ZumoMotorDirection.Forward)
{
RightMotorDir.Write(GpioPinValue.Low);
}
else
{
RightMotorDir.Write(GpioPinValue.High);
}
PwmDriver.SetChannelDutyCycle(Config.RightPwmChannel, power);
rightMotorPower = power;
rightDir = dir;
}
public async Task Init()
{
Debug.WriteLine("Initializing ZumoMotorShield");
Debug.WriteLine(Config.ToString());
var gpioCtrlr = GpioController.GetDefault();
LeftMotorDir = gpioCtrlr.OpenPin(Config.LeftMotorDirPin);
Debug.Assert(LeftMotorDir != null);
RightMotorDir = gpioCtrlr.OpenPin(Config.RightMotorDirPin);
Debug.Assert(RightMotorDir != null);
LeftMotorDir.SetDriveMode(GpioPinDriveMode.Output);
RightMotorDir.SetDriveMode(GpioPinDriveMode.Output);
PwmDriver = new PCA9685(Config.PwmDriverSlaveAddress);
await PwmDriver.Init();
}
