public async void Run(IBackgroundTaskInstance taskInstance)
{
//
// TODO: Insert code to perform background work
//
// If you start any asynchronous methods here, prevent the task
// from closing prematurely by using BackgroundTaskDeferral as
// described in http://aka.ms/backgroundtaskdeferral
BackgroundTaskDeferral deferral = taskInstance.GetDeferral();
motorHat = new MotorHat();
await motorHat.InitAsync(1600).ConfigureAwait(false);
stepper = motorHat.GetStepper(200, 1); //200 steps/revolution, motor port 1
stepper.SetSpeed(10); //10 rpm
while (true)
{
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.SINGLE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.SINGLE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.DOUBLE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.DOUBLE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.INTERLEAVE);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.INTERLEAVE);
stepper.step(100, MotorHat.Stepper.Command.FORWARD, MotorHat.Stepper.Style.MICROSTEP);
stepper.step(100, MotorHat.Stepper.Command.BACKWARD, MotorHat.Stepper.Style.MICROSTEP);
}
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
//
// TODO: Insert code to perform background work
//
// If you start any asynchronous methods here, prevent the task
// from closing prematurely by using BackgroundTaskDeferral as
// described in http://aka.ms/backgroundtaskdeferral
//
BackgroundTaskDeferral deferral = taskInstance.GetDeferral();
motorHat = new MotorHat();
await motorHat.InitAsync(1600).ConfigureAwait(false);
stepper1 = motorHat.GetStepper(200, 1); //200 steps/revolution, stepper port 1
// stepper2 = motorHat.GetStepper(200, 2); //200 steps/revolution, stepper port 2
stepper1.SetSpeed(10); //10 rpm
// stepper2.SetSpeed(10); //10 rpm
//dcMotor1 = motorHat.GetMotor(3); //motor port 3
dcMotor2 = motorHat.GetMotor(4); //motor port 4
Stepper1CancellationTokenSource = new CancellationTokenSource();
//Stepper2CancellationTokenSource = new CancellationTokenSource();
//Motor1CancellationTokenSource = new CancellationTokenSource();
Motor2CancellationTokenSource = new CancellationTokenSource();
Task stepper1Task = Task.Run(() => RunStepper(stepper1, Stepper1CancellationTokenSource.Token));
//Task stepper2Task = Task.Run(() => RunStepper(stepper2, Stepper2CancellationTokenSource.Token));
//Task motor1Task = Task.Run(() => RunMotor(dcMotor1, Motor1CancellationTokenSource.Token));
Task motor2Task = Task.Run(() => RunMotor(dcMotor2, Motor2CancellationTokenSource.Token));
List <Task> tasks = new List <Task>();
tasks.Add(stepper1Task);
// tasks.Add(stepper2Task);
//tasks.Add(motor1Task);
tasks.Add(motor2Task);
Task.WaitAll(tasks.ToArray());
deferral.Complete();
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
//
// TODO: Insert code to perform background work
//
// If you start any asynchronous methods here, prevent the task
// from closing prematurely by using BackgroundTaskDeferral as
// described in http://aka.ms/backgroundtaskdeferral
//
BackgroundTaskDeferral deferral = taskInstance.GetDeferral();
motorHat = new MotorHat();
await motorHat.InitAsync(1600).ConfigureAwait(false);
dcMotor = motorHat.GetMotor(4); //motor port 4
while (true)
{
dcMotor.Run(MotorHat.DCMotor.Command.FORWARD);
for (uint i = 0; i < 255; i++)
{
dcMotor.SetSpeed(i);
Task.Delay(10).Wait();
}
for (uint i = 255; i != 0; i--)
{
dcMotor.SetSpeed(i);
Task.Delay(10).Wait();
}
dcMotor.Run(MotorHat.DCMotor.Command.BACKWARD);
for (uint i = 0; i < 255; i++)
{
dcMotor.SetSpeed(i);
Task.Delay(10).Wait();
}
for (uint i = 255; i != 0; i--)
{
dcMotor.SetSpeed(i);
Task.Delay(10).Wait();
}
dcMotor.Run(MotorHat.DCMotor.Command.RELEASE);
Task.Delay(1000).Wait();
}
}
static void Main(string[] args)
{
const double Period = 10.0;
Stopwatch sw = Stopwatch.StartNew();
// Use the following code to generate an I2C address different from the default
//var busId = 1;
//var selectedI2cAddress = 0b000000; // A5 A4 A3 A2 A1 A0
//var deviceAddress = MotorHat.I2cAddressBase + selectedI2cAddress;
//var settings = new I2cConnectionSettings(busId, deviceAddress);
using (var motorHat = new MotorHat())
{
var motor = motorHat.CreateDCMotor(1);
bool done = false;
Console.CancelKeyPress += (o, e) =>
{
done = true;
e.Cancel = true;
};
string lastSpeedDisp = null;
while (!done)
{
double time = sw.ElapsedMilliseconds / 1000.0;
// Note: range is from -1 .. 1 (for 1 pin setup 0 .. 1)
motor.Speed = Math.Sin(2.0 * Math.PI * time / Period);
string disp = $"Speed = {motor.Speed:0.00}";
if (disp != lastSpeedDisp)
{
lastSpeedDisp = disp;
Console.WriteLine(disp);
}
Thread.Sleep(1);
}
}
}
public static IServiceCollection AddControlLayer(this IServiceCollection services)
{
// Configure the Differencial Drive Controller
services.AddHostedService <DifferentialDriveVelocityController>(s =>
{
// Create the motor Hat, and the drivers for left and right motors
var motorHat = new MotorHat();
var leftMotorDriver = new DCMotorDriver(motorHat.CreateDCMotor(1), s.GetService <ILogger <DCMotorDriver> >());
var rightMotorDriver = new DCMotorDriver(motorHat.CreateDCMotor(3), s.GetService <ILogger <DCMotorDriver> >());
// Create the SpeedController that controls left and right motors
return(new DifferentialDriveVelocityController(
leftMotorDriver,
rightMotorDriver,
s.GetService <IMessageBroker>(),
s.GetService <ILogger <DifferentialDriveVelocityController> >()));
});
services.Configure <RemoteControlOptions>(options =>
{
options.GamepadKeyThrottle = 1;
options.GamepadKeyYaw = 0;
});
// Configure the Remote Control Controller
services.AddHostedService <RemoteControlController>(s =>
{
var gamepadDriver = new GamepadDriver(s.GetService <ILogger <GamepadDriver> >());
return(new RemoteControlController(
gamepadDriver,
s.GetService <IMessageBroker>(),
s.GetService <IOptions <RemoteControlOptions> >(),
s.GetService <ILogger <RemoteControlController> >()));
});
return(services);
}
private async System.Threading.Tasks.Task GetTaskFromFMS()
{
// flag that we are running
isRunning = true;
// record the start time
DateTime start = DateTime.Now;
// figure out if we need to authenticate to FMS or if we're good
if (token == null || token == string.Empty)
{
lc.LogMessage("Logging into FMS.", LoggingLevel.Information);
token = await fmserver.Authenticate();
if (token.ToLower().Contains("error"))
{
lc.LogMessage("Authentication error: " + token, LoggingLevel.Information);
token = string.Empty;
// and exit but without throwing an exception, we'll just try again on the next timer event
return;
}
else
{
tokenRecieved = DateTime.Now;
lc.LogMessage("Token " + token + " Received at " + tokenRecieved.ToLongTimeString(), LoggingLevel.Information);
}
}
if (token != string.Empty)
{
// how old is the token?
TimeSpan age = start - tokenRecieved;
lc.LogMessage("Timed run; Token age = " + age, LoggingLevel.Information);
// query FM to see if there are any outstanding tasks
var find = fmserver.FindRequest();
var request1 = find.SearchCriterium();
request1.AddFieldSearch("flag_ready", "1");
var foundResponse = await find.Execute();
if (foundResponse.errorCode > 0)
{
lc.LogMessage("Nothing to do. " + fmserver.lastErrorCode.ToString() + " - " + fmserver.lastErrorMessage, LoggingLevel.Error);
return;
}
// get the first FM record, we are just going to takcle that one
var record = foundResponse.data.foundSet.records.First();
// capture the record id, we'll need it to later update the record
int taskId = Convert.ToInt32(record.recordId);
// capture whatever is in the notes fields already so that we can append to it
string notes = record.fieldsAndData.Where(pair => pair.Key == "notes").Select(pair => pair.Value).First();
string direction = record.fieldsAndData.Where(pair => pair.Key == "motor_direction").Select(pair => pair.Value).First();
uint speed = Convert.ToUInt16(record.fieldsAndData.Where(pair => pair.Key == "motor_speed").Select(pair => pair.Value).First());
int motor_number = Convert.ToInt16(record.fieldsAndData.Where(pair => pair.Key == "motor_number").Select(pair => pair.Value).First());
int how_long = Convert.ToInt16(record.fieldsAndData.Where(pair => pair.Key == "duration").Select(pair => pair.Value).First());
uint pwm_frequency = Convert.ToUInt16(record.fieldsAndData.Where(pair => pair.Key == "motor_PWM_frequency").Select(pair => pair.Value).First());
string note = "";
// hook into the mother hat
// this part is not very reliable in the Adafruit library it errors out on every 2nd iteration
// so we are going to loop until no exception
MotorHat mh = null;
int tryCount = 0;
while (tryCount < 5)
{
try
{
mh = new MotorHat();
await mh.InitAsync(pwm_frequency).ConfigureAwait(false);
lc.LogMessage("hat - initialized with PWM frequency of: " + pwm_frequency.ToString(), LoggingLevel.Information);
}
catch (Exception ex)
{
tryCount++;
note = "init error #" + tryCount + ":" + ex.Message + " - " + ex.InnerException;
lc.LogMessage("Error: " + note, LoggingLevel.Error);
// wait a little bit
Thread.Sleep(10);
// next loop iteration
continue;
}
// all is well
break;
}
// hook into the DC motor as specified
try
{
lc.LogMessage("motor - before hooking into motor: " + motor_number.ToString(), LoggingLevel.Information);
MotorHat.DCMotor motor = mh.GetMotor(motor_number);
lc.LogMessage("motor - before setting speed for motor: " + speed.ToString(), LoggingLevel.Information);
motor.SetSpeed(speed);
lc.LogMessage("motor - before creating direction command: " + direction, LoggingLevel.Information);
MotorHat.DCMotor.Command which_way = (MotorHat.DCMotor.Command)Enum.Parse(typeof(MotorHat.DCMotor.Command), direction);
// run he motor
lc.LogMessage("motor - before running the motor.", LoggingLevel.Information);
motor.Run(which_way);
lc.LogMessage("motor - before pausing the motor: " + how_long.ToString() + " milliseconds", LoggingLevel.Information);
await Task.Delay(how_long);
lc.LogMessage("motor - before stopping the motor.", LoggingLevel.Information);
motor.Run(MotorHat.DCMotor.Command.RELEASE);
}
catch (Exception ex)
{
note = ex.Message + " - " + ex.InnerException;
lc.LogMessage("Error: " + note, LoggingLevel.Error);
}
// write an update to FMS
var editRequest = fmserver.EditRequest(taskId);
editRequest.AddField("flag_ready", "");
editRequest.AddField("notes", DateTime.Now.ToLongDateString() + " " + DateTime.Now.ToLongTimeString() + " - Done! " + Environment.NewLine + note + Environment.NewLine + notes);
// execute the edit request
var response = await editRequest.Execute();
if (fmserver.lastErrorCode == 0)
{
lc.LogMessage("Task finished.", LoggingLevel.Information);
}
else
{
lc.LogMessage("Task failed. " + fmserver.lastErrorCode.ToString() + " - " + fmserver.lastErrorMessage, LoggingLevel.Error);
}
// don't log out, re-using the token for 14 minutes or so
//await fmserver.Logout();
//token = string.Empty;
if (DateTime.Now >= tokenRecieved.AddMinutes(14))
{
// don't really need to log out after 14 minutes, we can just re-use the same token
int logoutResponse = await fmserver.Logout();
token = string.Empty;
tokenRecieved = DateTime.Now;
lc.LogMessage("Logging out of FMS.", LoggingLevel.Information);
}
}
}
