/// <summary>
/// CMPS03 Compass Module
/// </summary>
/// <param name="deviceAddress">7bit address of the sonar</param>
public CMPS03Compass(byte deviceAddress)
{
this._slave = new I2CSlave(deviceAddress);
}
/// <summary>
/// Changes address of the I2C device.
/// Works only for revision 14 and above
/// </summary>
/// <param name="newAddress">New 7bit address</param>
public void ChangeI2CAddress(byte newAddress)
{
byte[] data = new byte[4] {
I2CSlave.ADDRESS_CHANGE_1,
I2CSlave.ADDRESS_CHANGE_2,
I2CSlave.ADDRESS_CHANGE_3,
(byte)(newAddress << 1),
};
_slave.WriteRegister(CMPS03Compass.REG_UNLOCK_1, data);
_slave.Dispose();
// Wait a few miliseconds to make things "sattle", otherwise it will fail
Thread.Sleep(50);
// Create _slave with new address
_slave = new I2CSlave(newAddress);
}
/// <summary>
/// SRF02 Range Finder
/// </summary>
/// <param name="deviceAddress">7bit address of the sonar</param>
public SRF02Sonar(byte deviceAddress)
{
this._slave = new I2CSlave(deviceAddress);
}
/// <summary>
/// SD20 Servo Driver
/// </summary>
/// <param name="deviceAddress">7bit address of the SD20</param>
public SD20ServoDriver(byte deviceAddress)
{
this._slave = new I2CSlave(deviceAddress);
}
/// <summary>
/// Changes address of the I2C device
/// </summary>
/// <param name="newAddress">New 7bit address</param>
public void ChangeI2CAddress(byte newAddress)
{
_slave.ChangeI2CAddress(SRF02Sonar.REG_COMMAND_REVISION, newAddress);
_slave.Dispose();
// Wait a few miliseconds to make things "sattle", otherwise it will fail
Thread.Sleep(50);
// Create _slave with new address
_slave = new I2CSlave(newAddress);
}