private void InitializeDcMotor()
{
dcMotor = new DcMotor(pwmDriver);
// Set default speed
Speed = 1000;
// DC motor test. Uncomment the following line to run DC1 motor for 5 seconds without using UI.
// DcMotorTest(DcMotorIndex.DC1, MotorDirection.Backward, speed);
}
private void InitializeDcMotor()
{
var pcaPwmControllerProvider = PcaPwmControllerProvider.GetDefault();
dcMotor = new DcMotor(pcaPwmControllerProvider);
// 기본 속도 설정
Speed = 1000;
// 다음 줄의 주석을 해제하면, UI를 사용하지 않고 DC1 모터를 5초 동안 실행한다.
// DcMotorTest(DcMotorIndex.DC1, MotorDirection.Backward, speed);
}
public void Init()
{
Servo = new ServoMotor(PwmDevice, PwmChannel.C1, 150, 600);
DcMotor = new DcMotor(PwmDevice, PwmChannel.C4, PwmChannel.C5);
Stepper = new StepperMotor(
PwmDevice
, PwmChannel.C11
, PwmChannel.C10
, PwmChannel.C9
, PwmChannel.C8);
Stepper.RotationCompleted += OnStepperCompleted;
Led0 = new Led(PwmDevice, PwmChannel.C0);
}
public static void Main()
{
// shield-specific setup. Uncomment one of the shield #define lines above.
#if UseOnboardLedForDiagnostics
Led = new OutputPort(Pins.ONBOARD_LED, false);
#endif
HBridge bridge1;
HBridge bridge2;
#if AdafruitV1Shield
var shield = new AdafruitV1MotorShield();
shield.InitializeShield();
bridge1 = shield.GetDcMotor(1);
bridge2 = shield.GetDcMotor(2);
#elif AdafruitV2Shield
var shield = new AdafruitV2MotorShield();
shield.InitializeShield();
bridge1 = shield.GetDcMotor(1);
bridge2 = shield.GetDcMotor(2);
#elif SparkfunArduMotoShield
var shield = new SparkfunArdumoto();
shield.InitializeShield();
bridge1 = shield.GetHBridge(Connector.A, TargetDevice.Netduino);
bridge2 = shield.GetHBridge(Connector.B, TargetDevice.Netduino);
#elif LedSimulatorShield
bridge1 = LedMotorSimulator.GetDcMotor(Pins.GPIO_PIN_D0, PWMChannels.PWM_ONBOARD_LED);
bridge2 = LedMotorSimulator.GetDcMotor(Pins.GPIO_PIN_D1, PWMChannels.PWM_PIN_D6);
#else
throw new ApplicationException("Uncomment one of the shield #define statements");
#endif
// Create the stepper motor axes and link them to the Adafruit driver.
var motor1 = new DcMotor(bridge1);
var motor2 = new DcMotor(bridge2);
while (true)
{
var targetSpeed1 = randomGenerator.NextDouble() / 2.0 + 0.5; // range -1.0 to +1.0
var targetSpeed2 = randomGenerator.NextDouble() * 2.0 - 1.0; // range -1.0 to +1.0
motor1.AccelerateToVelocity(targetSpeed1);
motor2.AccelerateToVelocity(targetSpeed2);
Thread.Sleep(6000);
}
}
public void Command(PwmCommand pwmCommand)
{
Log.DebugFormat("PwmCommand received({0})!", pwmCommand);
switch (pwmCommand.Channel)
{
case DeviceChannel.DcMotor:
var percent = pwmCommand.DutyCyclePercent;
var direction = percent > 0 ? MotorDirection.Forward : MotorDirection.Reverse;
DcMotor.Go(Math.Abs(percent), direction);
break;
case DeviceChannel.Led:
Led0.On(pwmCommand.DutyCyclePercent);
break;
case DeviceChannel.Servo:
Servo.MoveTo(pwmCommand.DutyCyclePercent);
break;
}
}
public void AllStop()
{
Log.Info("All stop");
Led0.Off();
DcMotor.Stop();
}
