public Robot()
{
_controller = new MotorHat2348();
_leftMotor = _controller.CreateDCMotor(1);
_leftMotor.SetSpeed(60);
_rightMotor = _controller.CreateDCMotor(2);
_rightMotor.SetSpeed(60);
}
public MainPage()
{
this.InitializeComponent();
mh = new MotorHat2348(0x60);
stepper = mh.CreateStepperMotor(1, 2, 200);
stepper.SetSpeed(60);
stepper.PowerFactor = 0.25;
dcmotor = mh.CreateDCMotor(3);
}
public void Run(IBackgroundTaskInstance taskInstance)
{
deferral = taskInstance.GetDeferral();
var mh = new MotorHat2348(0x60); //this is I2C address?
var motor1 = mh.CreateDCMotor(1);
motor1.SetSpeed(30);
motor1.Run(Direction.Forward);
var motor2 = mh.CreateDCMotor(2);
motor2.SetSpeed(30);
motor2.Run(Direction.Forward);
//var motor3 = mh.CreateDCMotor(3);
//motor3.SetSpeed(30);
//motor3.Run(Direction.Forward);
//var motor4 = mh.CreateDCMotor(4);
//motor4.SetSpeed(30);
//motor4.Run(Direction.Forward);
var pwm = mh.CreatePwm(1);
pwm.Start();
var x = 9;
pwm.Stop();
//var wait = Task.Delay(5000);
//while (!wait.IsCompleted)
//{
//}
//motor1.SetSpeed(0);
//motor1.Dispose();
}
public async void DCMotorExample()
{
var mh = new MotorHat2348(0x60);
var motor = mh.CreateDCMotor(3);
int incrementDelay = 50; // milliseconds
double speedIncrement = 0.01;
while (true)
{
motor.Run(Direction.Forward);
Debug.WriteLine("Forward - Speed Up!");
for (double i = 0; i < 1; i += speedIncrement)
{
motor.SetSpeed(i);
await Task.Delay(incrementDelay);
}
Debug.WriteLine("Forward - Slow Down!");
for (double i = 1; i > 0; i -= speedIncrement)
{
motor.SetSpeed(i);
await Task.Delay(incrementDelay);
}
motor.Run(Direction.Backward);
Debug.WriteLine("Backward - Speed Up!");
for (double i = 0; i < 1; i += speedIncrement)
{
motor.SetSpeed(i);
await Task.Delay(incrementDelay);
}
Debug.WriteLine("Backward - Slow Down!");
for (double i = 1; i > 0; i -= speedIncrement)
{
motor.SetSpeed(i);
await Task.Delay(incrementDelay);
}
motor.Run(Direction.Release);
Debug.WriteLine("reapeat!");
}
}
