/// <summary>
/// Move a stepper. Only one param between steps and msec but be set different from 0.
/// Blocking call.
/// </summary>
/// <param name="which">Which stepper to drive</param>
/// <param name="mode">Stepping mode</param>
/// <param name="speed">Number of ms between each step (0 : no pause=max speed)</param>
/// <param name="direction">True = foward, False = backward</param>
/// <param name="steps">If non-zero, number of steps to run</param>
/// <param name="msec">If non-zero, number of ms to run</param>
/// <param name="hold">True if stepper shall stay energized when task done</param>
/// <returns>Number of steps ran</returns>
//public uint StepperMove(Steppers which, BipolarStepping mode, int speed, bool direction, int steps, int msec, bool hold = false)
//{
// byte[] MotorSteps = BipolarSteppingWaveDrive[(byte)which]; // Get the stepping pattern
// if (mode == BipolarStepping.HiTorque) MotorSteps = BipolarSteppingHiTorque[(byte)which];
// if (mode == BipolarStepping.HalfStep) MotorSteps = BipolarSteppingHalfStep[(byte)which];
// // Find where we stopped last time
// byte last;
// int pos;
// uint step = 0;
// if (which == 0) last = (byte)(latch_state & 0x1E);
// else last = (byte)(latch_state & 0xE1);
// for (pos = 0; pos < MotorSteps.Length; pos++) if (MotorSteps[pos] == last) break;
// if (pos == MotorSteps.Length) pos = 0;
// if (which == 0) { Motor1A.Write(true); Motor1B.Write(true); }
// else { Motor2A.SetDutyCycle(100); Motor2B.SetDutyCycle(100); }
// byte Mask = (byte)((which == 0) ? 0xE1 : 0x1E);
// if (steps > 0) // user chose to move from a number of steps
// {
// for (; step < steps; step++)
// {
// if (direction) pos = (pos + 1) % MotorSteps.Length;
// else if (--pos < 0) pos = MotorSteps.Length - 1;
// latch_state = (byte)((latch_state & Mask) | MotorSteps[pos]);
// latch_tx();
// if (speed > 0) Thread.Sleep(speed);
// }
// }
// else // So no number of steps, the user must have given a time to run
// {
// long endtime = DateTime.Now.Ticks + msec * TimeSpan.TicksPerMillisecond;
// for (; DateTime.Now.Ticks < endtime; step++)
// {
// if (direction) pos = (pos + 1) % MotorSteps.Length;
// else if (--pos < 0) pos = MotorSteps.Length - 1;
// latch_state = (byte)((latch_state & Mask) | MotorSteps[pos]);
// latch_tx();
// if (speed > 0) Thread.Sleep(speed);
// }
// }
// if (!hold) // Remove energy from stepper
// {
// if (which == 0) { Motor1A.Write(false); Motor1B.Write(false); }
// else { Motor2A.SetDutyCycle(0); Motor2B.SetDutyCycle(0); }
// }
// return step;
//}
///// <summary>
///// Control a motor; Non-blocking call. Set speed to 0 to stop.
///// Frequency might need to be adjusted deppending on motor, or to match other PWMs
///// </summary>
///// <param name="which">Which motor to drive</param>
///// <param name="speed">Steed, between 0 and 255 (0 to stop, 255 = max speed)</param>
///// <param name="direction">True = foward, False = backward</param>
///// <param name="freq">Frequency in Hz of the PWM controlling the motor</param>
//public void MotorControl(Motors which, byte speed, bool direction, int freq = 100)
//{
// uint period = (uint)(1000000D / (double)freq);
// switch (which)
// {
// case Motors.M1:
// latch_state = (byte)((latch_state & 0xF3) | (direction ? 4 : 8));
// latch_tx();
// Motor1A.Write(speed > 0);
// break;
// case Motors.M2:
// latch_state = (byte)((latch_state & 0xED) | (direction ? 2 : 16));
// latch_tx();
// Motor1B.Write(speed > 0);
// break;
// case Motors.M3: // This motor can have its speed controlled through PWM
// if (speed == 0) Motor2A.SetDutyCycle(0);
// else
// {
// latch_state = (byte)((latch_state & 0xBE) | (direction ? 1 : 64));
// latch_tx();
// Motor2A.SetPulse(period, (uint)(period * (double)speed / 255D));
// }
// break;
// case Motors.M4: // This motor can have its speed controlled through PWM
// if (speed == 0) Motor2B.SetDutyCycle(0);
// else
// {
// latch_state = (byte)((latch_state & 0x5F) | (direction ? 32 : 128));
// latch_tx();
// Motor2B.SetPulse(period, (uint)(period * (double)speed / 255D));
// }
// break;
// }
//}
public void BothMotors(int motor3Speed, int motor4Speed)
{
if (motor3Speed == 0)
{
Motor2A.SetDutyCycle(0);
}
if (motor4Speed == 0)
{
Motor2A.SetDutyCycle(0);
}
var motor3Dir = motor3Speed > 0;
var motor4Dir = motor4Speed > 0;
//var motor3latch_state = (byte) ((latch_state & 0xBE) | (motor3Dir ? 1 : 64));
//var motor4latch_state = (byte) ((latch_state & 0x5F) | (motor4Dir ? 32 : 128));
//latch_state = (byte) (motor3latch_state & motor4latch_state);
latch_state = (byte)((latch_state & 0xBE) | (motor3Dir ? 1 : 64));
latch_tx();
Motor2A.SetDutyCycle((uint)Math.Abs(motor3Speed));
latch_state = (byte)((latch_state & 0x5F) | (motor4Dir ? 32 : 128));
latch_tx();
Motor2B.SetDutyCycle((uint)Math.Abs(motor4Speed));
}
public void Dispose()
{
latch_state = 0;
latch_tx();
//if (UsedDriver == Drivers.Driver1 || UsedDriver == Drivers.Both)
//{
// Motor1A.Dispose();
// Motor1B.Dispose();
//}
//if (UsedDriver == Drivers.Driver2 || UsedDriver == Drivers.Both)
//{
Motor2A.Dispose();
Motor2B.Dispose();
//}
MotorLatch.Dispose();
MotorEnable.Dispose();
MotorClk.Dispose();
MotorData.Dispose();
}
public void MotorControl(Motors which, uint speed, bool direction)
{
if (speed >= 100)
{
speed = 100;
}
switch (which)
{
case Motors.M3: // This motor can have its speed controlled through PWM
if (speed == 0)
{
Motor2A.SetDutyCycle(0);
}
else
{
latch_state = (byte)((latch_state & 0xBE) | (direction ? 1 : 64));
latch_tx();
Motor2A.SetDutyCycle(speed);
}
break;
case Motors.M4: // This motor can have its speed controlled through PWM
if (speed == 0)
{
Motor2B.SetDutyCycle(0);
}
else
{
latch_state = (byte)((latch_state & 0x5F) | (direction ? 32 : 128));
latch_tx();
Motor2B.SetDutyCycle(speed);
}
break;
}
}