public StatusLamp(IStatusLampSettingRepository statusLampSettingRepository, IGpioControllerFacade gpioControllerFacade)
{
_name = "StatusLamp";
_statusLampSettingRepository = statusLampSettingRepository;
_redLight = new Light(gpioPin: 19, gpioControllerFacade: gpioControllerFacade);
_greenLight = new Light(gpioPin: 13, gpioControllerFacade: gpioControllerFacade);
}
public GpioPin(IGpioControllerFacade controller, int pinNumber, PinMode pinMode)
{
_controller = controller;
_pinNumber = pinNumber;
controller.OpenPin(_pinNumber, pinMode);
if (pinMode == PinMode.Input)
{
_controller.RegisterCallbackForPinValueChangedEvent(pinNumber, PinEventTypes.Falling, ValueChangedHandler);
_controller.RegisterCallbackForPinValueChangedEvent(pinNumber, PinEventTypes.Rising, ValueChangedHandler);
}
}
public StepperDriveControl(DrivePins drivePins, IGpioControllerFacade gpioControllerFacade)
{
_enablePin = new GpioPin(gpioControllerFacade, drivePins.EnablePin, PinMode.Output);
_enablePin.Write(ENA_RELEASED);
_directionPin = new GpioPin(gpioControllerFacade, drivePins.DirectionPin, PinMode.Output);
_directionPin.Write(BACKWARD);
_stepPin = new GpioPin(gpioControllerFacade, drivePins.StepPin, PinMode.Output);
_stepPin.Write(PinValue.Low);
_referenceSwitchPin = new GpioPin(gpioControllerFacade, drivePins.ReferenceSwitchPin, PinMode.Input);
}
public SpiritDispenserControl(ISpiritDispenserSettingRepository dispenserSettingRepository, IEmergencyStop emergencyStop, IGpioControllerFacade gpioControllerFacade)
{
_name = "SpiritDispenser";
(_spiritDispenserSettingRepository, _emergencyStop) = (dispenserSettingRepository, emergencyStop);
_spiritSpenderMotor = new LinearMotor(forwardGpioPin: 18, backwardGpioPin: 23, gpioControllerFacade: gpioControllerFacade);
_currentStatus = new BehaviorSubject <Status>(emergencyStop.EmergencyStopPressed ? Status.Error : Status.NotReady);
CurrentPosition = SpiritDispenserPosition.Undefined;
_cancelMovementTokensource = new CancellationTokenSource();
emergencyStop.EmergencyStopPressedChanged += EmergencyStopPressedChanged;
}
private void InitGpio(int forwardGpioPin, int backwardGpioPin, IGpioControllerFacade gpioControllerFacade)
{
_forwardPin = new GpioPin(gpioControllerFacade, forwardGpioPin, PinMode.Output);
_backwardPin = new GpioPin(gpioControllerFacade, backwardGpioPin, PinMode.Output);
StopMotor();
}
public LinearMotor(int forwardGpioPin, int backwardGpioPin, IGpioControllerFacade gpioControllerFacade) => InitGpio(forwardGpioPin, backwardGpioPin, gpioControllerFacade);
public YAxis(IDriveSettingRepository driveSettingRepository, IEmergencyStop emergencyStop, IGpioControllerFacade gpioControllerFacade)
: base(driveSettingRepository, emergencyStop)
{
var drivePins = new DrivePins
{
EnablePin = 22,
DirectionPin = 5,
StepPin = 6,
ReferenceSwitchPin = 21
};
_stepperDriveControl = new StepperDriveControl(drivePins, gpioControllerFacade);
_defaultDriveSetting = new DriveSetting
{
DriveName = Name,
MaxSpeed = new Speed(80, SpeedUnit.MillimeterPerSecond),
Acceleration = new Acceleration(80, AccelerationUnit.MillimeterPerSecondSquared),
SpindlePitch = new Length(8, LengthUnit.Millimeter),
StepsPerRevolution = 400,
SoftwareLimitMinus = new Length(0.1, LengthUnit.Millimeter),
SoftwareLimitPlus = new Length(141.1, LengthUnit.Millimeter),
ReverseDirection = false,
ReferenceDrivingDirection = DrivingDirection.Negative,
ReferencePosition = new Length(0, LengthUnit.Millimeter),
ReferenceDrivingSpeed = new Speed(3.5, SpeedUnit.MillimeterPerSecond)
};
}
public Light(int gpioPin, IGpioControllerFacade gpioControllerFacade)
{
_blinkingTokensource = new CancellationTokenSource();
_gpio = new GpioPin(gpioControllerFacade, gpioPin, PinMode.Output);
TurnLightOff();
}
public EmergencyStop(IGpioControllerFacade gpioControllerFacade) => InitGpio(emergencyStopGpioPin : 12, gpioControllerFacade);