static async void Blink(GpioPinWrapper Pin, int WaitTime, CancellationToken cancellationToken)
{
bool CurrentValue = false;
while (!cancellationToken.IsCancellationRequested)
{
Pin.Status = CurrentValue ? GpioPinValue.High : GpioPinValue.Low;
CurrentValue = !CurrentValue;
await Task.Delay(TimeSpan.FromSeconds(WaitTime));
}
}
public static async Task <GameManager> CreateAsync()
{
var commandInterpreterConstructor = CommandInterpreter.CreateAsync();
ChessLogic logic = new ChessLogic();
var stepCountPinX = new GpioPinWrapper(5, Windows.Devices.Gpio.GpioPinDriveMode.InputPullUp);
var stepClearPinX = new GpioPinWrapper(13, Windows.Devices.Gpio.GpioPinDriveMode.Output, Windows.Devices.Gpio.GpioPinValue.Low);
var motorInformationX = new MotorInformation(Axis.X, stepCountPinX);
var motorDriverX = new MotorDrv(20, 21, motorInformationX);
var motorLocatorX = new MotorLocator(stepClearPinX, motorDriverX.Information);
var positionSignalerX = new PositionSignaler(motorLocatorX);
var motorMoverX = new MotorMover(50, positionSignalerX, motorLocatorX, motorDriverX);
var stepCountPinY = new GpioPinWrapper(6, Windows.Devices.Gpio.GpioPinDriveMode.InputPullUp);
var stepClearPinY = new GpioPinWrapper(19, Windows.Devices.Gpio.GpioPinDriveMode.Output, Windows.Devices.Gpio.GpioPinValue.Low);
var motorInformationY = new MotorInformation(Axis.Y, stepCountPinY);
var motorDriverY = new MotorDrv(24, 23, motorInformationY);
var motorLocatorY = new MotorLocator(stepClearPinY, motorDriverY.Information);
var positionSignalerY = new PositionSignaler(motorLocatorY);
var motorMoverY = new MotorMover(50, positionSignalerY, motorLocatorY, motorDriverY);
var topInterrupterX = new PhotoInterrupter(17, 1, 150);
var bottomInterrupterX = new PhotoInterrupter(27, -1, -150);
var motorCalibratorX = new MotorCalibrator(-23, 23, motorMoverX, motorInformationX, topInterrupterX, bottomInterrupterX);
var topInterrupterY = new PhotoInterrupter(25, 1, 150);
var bottomInterrupterY = new PhotoInterrupter(22, -1, -150);
var motorCalibratorY = new MotorCalibrator(-17, 17, motorMoverY, motorInformationY, topInterrupterY, bottomInterrupterY);
var preciseMoverX = new PreciseMotorMover(motorMoverX);
var gridMoverX = new GridMotorMover(preciseMoverX, motorCalibratorX);
var preciseMoverY = new PreciseMotorMover(motorMoverY);
var gridMoverY = new GridMotorMover(preciseMoverY, motorCalibratorY);
var magnetDriver = new MagnetDrv(26);
var movePerformer = new MovePerformer(gridMoverX, gridMoverY, magnetDriver);
var motorCalibrationTask = movePerformer.CalibrateAsync();
var movePlanner = new MovePlanner(logic.Board);
var moveManager = new MoveManager(movePlanner, movePerformer);
GameManager manager = new GameManager(await commandInterpreterConstructor, logic, moveManager);
await motorCalibrationTask;
#if DEBUG
manager.DebugMovePerformer = movePerformer;
#endif
return(manager);
}
static async void PWM(GpioPinWrapper Pin, uint time, CancellationToken cancellationToken)
{
Pin.Status = GpioPinValue.High;
int pwm_time_high = (int)time;
int pwm_time_low = (int)(10 - time);
while (!cancellationToken.IsCancellationRequested)
{
Pin.Pin.Write(GpioPinValue.High);
await Task.Delay(pwm_time_high);
Pin.Pin.Write(GpioPinValue.Low);
await Task.Delay(pwm_time_low);
}
Pin.Status = GpioPinValue.Low;
}
void Server_NewQueryAppeared(object sender, string e)
{
if (e == null || e == "")
{
return;
}
string message = e.ToLower();
GpioPinValue newValue = GpioPinValue.High;
GpioPinWrapper LED = null;
if (message.Contains("on"))
{
newValue = GpioPinValue.High;
}
else if (message.Contains("off"))
{
newValue = GpioPinValue.Low;
}
if (message.Contains("red"))
{
LED = PinLED1;
}
else if (message.Contains("green"))
{
LED = PinLED2;
}
else if (message.Contains("white"))
{
return;
}
else if (message.Contains("white"))
{
return;
}
LED.Status = newValue;
}
