private void RotateExample()
{
try
{
using (var hat = new PwmController())
{
hat.SetDesiredFrequency(364); // spec'd to 658?
while (true)
{
int s = 0;
int m = 8;
int max = (int) ((float) 4096*(0.75));
int min = (int) ((float) 4096*(0.28));
while (true)
{
s += m;
if (s >= max)
{
s = max;
m = -4;
}
if (s <= min)
{
s = min;
m = 4;
}
hat.SetPulseParameters(15, s);
Task.Delay(TimeSpan.FromMilliseconds(10)).Wait();
}
hat.SetPulseParameters(15, 0);
hat.SetPulseParameters(4, 40); //aux
hat.SetPulseParameters(3, 40); //rud
hat.SetPulseParameters(2, 40); //ele
hat.SetPulseParameters(1, 40); //ail
hat.SetPulseParameters(0, 40); //thr
Task.Delay(TimeSpan.FromSeconds(5)).Wait();
hat.SetPulseParameters(15, 4096);
hat.SetPulseParameters(4, 4055); //aux
hat.SetPulseParameters(3, 4055); //rud
hat.SetPulseParameters(2, 4055); //ele
hat.SetPulseParameters(1, 4055); //ail
hat.SetPulseParameters(0, 4055); //thr
Task.Delay(TimeSpan.FromSeconds(5)).Wait();
}
}
}
/* If the write fails display the error and stop running */
catch (Exception ex)
{
Text_Status.Text = "Failed to communicate with device: " + ex.Message;
return;
}
}
/// <summary>
/// Initializes the Remote Arduino Provider and stores the handles to the 4 controllers. Only runs once.
/// </summary>
private static async Task InitAsync()
{
await semaphoreSlim.WaitAsync();
try
{
if (!initialized)
{
// Change this to true for Bluetooth and false for USB
bool UseBluetooth = false;
bool configurationFound = false;
DeviceInformation connectedDeviceInformation = null;
if (UseBluetooth)
{
// This assumes that there is only one BT SPP device on the computer. If there are multiple devices
// the you will need to identify the device from the list returned from FindAllAsync() and use
// that one as the device to pass to the arduino provider
string spp_aqs = RfcommDeviceService.GetDeviceSelector(RfcommServiceId.SerialPort);
DeviceInformationCollection deviceList = await DeviceInformation.FindAllAsync(spp_aqs);
if (deviceList.Count > 0)
{
DeviceInformation device = deviceList[0];
// Remember to ensure that the Firmata Sketch has the baud rate set to the same default as the BT device
ArduinoProviders.ArduinoProvider.Configuration = new ArduinoProviders.ArduinoConnectionConfiguration(device, 57600);
configurationFound = true;
}
else
{
Debug.WriteLine("No bluetooth connected Arduino found");
}
}
else
{
Selector selector = new Selector();
IEnumerable <ArduinoDeviceListEntry> list = await selector.GetDeviceList();
if (list.Count() > 0)
{
var listArray = list.ToArray();
connectedDeviceInformation = listArray[0].DeviceInformation;
ArduinoProviders.ArduinoProvider.Configuration = new ArduinoProviders.ArduinoConnectionConfiguration(connectedDeviceInformation, 57600);
configurationFound = true;
}
else
{
Debug.WriteLine("No USB Connected Ardino found");
}
}
// we can't use a null check on Configuration as it will auto allocate and be in an invalid state
if (configurationFound)
{
// Check our firmata and make sure we are good, if not we will flash the device with our required MakeCode specific firmata
int retry = 2;
bool FirmwareUploadRequired = false;
while (retry-- > 0)
{
FirmwareUploadRequired = false;
try
{
if (firmataProvider == null)
{
firmataProvider = new ArduinoProviders.ArduinoFirmataProvider();
}
bool firmataInitOk = false;
try
{
firmataInitOk = await firmataProvider.InitializeAsync();
}
catch (Exception e)
{
Debug.WriteLine(e.Message);
}
if (firmataInitOk == true)
{
// there is a firmata version on the device now. Check if it is what we need.
int MajorVersion = firmataProvider.FirmataInstance.getFirmwareVersionMajor();
int MinorVersion = firmataProvider.FirmataInstance.getFirmwareVersionMinor();
String FirmwareName = firmataProvider.FirmataInstance.getFirmwareName();
Debug.WriteLine($"Arduino with Firmata found Version {MajorVersion}.{MinorVersion} {FirmwareName}");
if (String.Compare(FirmwareName, "MakeCodeFirmata.ino", StringComparison.OrdinalIgnoreCase) != 0)
{
// Not the makecode firmware so need to upload it
FirmwareUploadRequired = true;
}
else
{
// Makecode firmware, but is it the required version?
// TODO: Version check
}
}
else
{
// No firmata on the device
FirmwareUploadRequired = true;
}
}
catch (Exception ex)
{
Debug.WriteLine("Failed to get Firmata Instance: " + ex.Message);
FirmwareUploadRequired = true;
}
if (FirmwareUploadRequired)
{
Debug.WriteLine("Firmata update required");
// Need to close our current connection if any
if (firmataProvider != null)
{
firmataProvider.Dispose();
firmataProvider = null;
ArduinoProvider.Close();
}
Arduino arduino = Arduino.GetArduino(connectedDeviceInformation.Id);
await arduino.Connect();
var programmer = arduino.GetProgrammer();
await programmer.Program("ms-appx:///BlockCode/MakeCodeFirmata/MakeCodeFirmata.ino.standard.hex", 28672);
// Now let the arduino go so we can reopen it in non progamming mode.
arduino.Dispose();
// And we will let it cycle again to verify
Debug.WriteLine("Arduino Firmata updated ");
return;
}
else
{
// Have a good firmware so store it and setup our callback
uwpFirmata = firmataProvider.FirmataInstance;
uwpFirmata.SysexMessageReceived += UwpFirmata_SysexMessageReceived;
retry = 0;
}
}
if (uwpFirmata == null)
{
// not going to be able to go on.
Debug.WriteLine("Arduino Firmata Initalization failed");
return;
}
// Now that we have a good firmata we can do the other connections
Windows.Devices.LowLevelDevicesController.DefaultProvider = new ArduinoProviders.ArduinoProvider();
gpioController = await GpioController.GetDefaultAsync();
pwmController = await PwmController.GetDefaultAsync();
adcController = await AdcController.GetDefaultAsync();
i2cController = await I2cController.GetDefaultAsync();
if (
(gpioController != null) &&
(pwmController != null) &&
(adcController != null) &&
(i2cController != null) &&
(uwpFirmata != null)
)
{
// We got good initialzation
initialized = true;
}
}
else
{
// Something went wrong with init
Debug.WriteLine("Arduino Initalization failed");
}
}
else
{
// Duplicate initalization, we can just ignore this
}
}
catch (Exception e)
{
Debug.WriteLine("Arduino Initalization failed: " + e.Message);
}
finally
{
// When the task is ready, release the semaphore. It is vital to ALWAYS release the semaphore when we are ready,
// or else we will end up with a Semaphore that is forever locked.
// This is why it is important to do the Release within a try...finally clause;
// program execution may crash or take a different path, this way you are guaranteed execution
semaphoreSlim.Release();
}
}
static void TestTinyBit()
{
var buzzerController = PwmController.FromName(FEZBit.PwmChannel.Controller3.Id);
var buzzerChannel = buzzerController.OpenChannel(FEZBit.PwmChannel.Controller3.EdgeP0Channel);
var lineDetectLeft = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP13);
var lineDetectRight = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP14);
var voiceSensor = AdcController.FromName(FEZBit.Adc.Controller1.Id).OpenChannel(FEZBit.Adc.Controller1.EdgeP1);
var p2remove = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP1);
var distanceTrigger = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP16);
var distanceEcho = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.EdgeP15);
p2remove.SetDriveMode(GpioPinDriveMode.Input);
var bot = new TinyBitController(
I2cController.FromName(FEZBit.I2cBus.Edge),
buzzerChannel,
voiceSensor,
lineDetectLeft, lineDetectRight, distanceTrigger, distanceEcho,
FEZBit.GpioPin.EdgeP12
);
new Thread(() => {
while (true)
{
bot.SetHeadlight(100, 0, 0);
Thread.Sleep(200);
bot.SetHeadlight(0, 0, 100);
Thread.Sleep(300);
}
}).Start();
/*new Thread(() => {
* while (true) {
* bot.Beep();
* Thread.Sleep(2_000);
* }
* }).Start();
*/
while (true)
{
bot.SetMotorSpeed(0.5, 0.5);
var l = bot.ReadLineSensor(true);
var r = bot.ReadLineSensor(false);
var v = bot.ReadVoiceLevel();
var d = bot.ReadDistance();
if (d < 20)
{
bot.SetMotorSpeed(-0.5, -0.5);
Thread.Sleep(200);
bot.SetMotorSpeed(-0.5, 0.5);
Thread.Sleep(200);
bot.SetMotorSpeed(0, 0);
Thread.Sleep(1000);
bot.Beep();
Thread.Sleep(100);
bot.Beep();
Thread.Sleep(100);
bot.Beep();
Thread.Sleep(100);
}
Thread.Sleep(10);
}
bot.SetHeadlight(30, 100, 100);
bot.SetColorLeds(1, 200, 0, 0);
bot.SetMotorSpeed(0.5, 0.5);
bot.SetMotorSpeed(0.5, -0.5);
bot.SetMotorSpeed(-0.5, 0.5);
bot.SetMotorSpeed(0, 0);
while (true)
{
var l = bot.ReadLineSensor(true);
var r = bot.ReadLineSensor(false);
var v = bot.ReadVoiceLevel();
Thread.Sleep(50);
bot.Beep();
}
}
static void TestMaqueen()
{
var buzzerController = PwmController.FromName(FEZBit.Timer.Pwm.Controller3.Id);
var buzzerChannel = buzzerController.OpenChannel(FEZBit.Timer.Pwm.Controller3.P0);
var lineDetectLeft = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P13);
var lineDetectRight = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P14);
var leftHeadlight = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P8);
var rightHeadight = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P12);
var bot = new GHIElectronics.TinyCLR.Dfrobot.MicroMaqueen.MaqueenController(
I2cController.FromName(FEZBit.I2cBus.Edge),
buzzerChannel,
leftHeadlight, rightHeadight,
lineDetectLeft, lineDetectRight,
GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P15)
);
bot.Beep();
bot.SetColorLeds(1, 100, 0, 0);
bot.SetColorLeds(0, 0, 50, 100);
new Thread(() => {
while (true)
{
bot.SetHeadlight(true, true);
Thread.Sleep(200);
bot.SetHeadlight(false, true);
Thread.Sleep(300);
}
}).Start();
new Thread(() => {
while (true)
{
bot.Beep();
Thread.Sleep(5_000);
}
}).Start();
while (true)
{
bot.SetMotorSpeed(0.5, 0.5);
if (bot.ReadLineSensor(true) || bot.ReadLineSensor(false))
{
bot.SetMotorSpeed(-0.5, -0.5);
Thread.Sleep(200);
bot.SetMotorSpeed(-0.5, 0.5);
Thread.Sleep(200);
bot.SetMotorSpeed(0, 0);
Thread.Sleep(1000);
}
Thread.Sleep(10);
}
bot.SetMotorSpeed(0.5, 0.5);
bot.SetMotorSpeed(0.5, -0.5);
bot.SetMotorSpeed(-0.5, 0.5);
bot.SetMotorSpeed(0, 0);
while (true)
{
var l = bot.ReadLineSensor(true);
var r = bot.ReadLineSensor(false);
Thread.Sleep(50);
bot.Beep();
}
}
static void Main()
{
new Thread(Blinker).Start();
// disable wifi
var wifien = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.WiFiEnable);
wifien.SetDriveMode(GpioPinDriveMode.Output);
wifien.Write(GpioPinValue.High);
var wifireset = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.WiFiReset);
wifireset.SetDriveMode(GpioPinDriveMode.Output);
wifireset.Write(GpioPinValue.High);
var wifics = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.WiFiChipselect);
wifics.SetDriveMode(GpioPinDriveMode.Output);
wifics.Write(GpioPinValue.High);
//InitDisplay();
//TestWaveshareDisplay();
//TestTouchPads();
//TestYahboomPiano();
//TestMaqueen();
TestTinyBit();
//TestTpBot();
//TestCuteBot();
//TestScrollBit();
//InitBot();
while (false)
{
//bot.SetMotorSpeed(0.5, 0.5);
//Thread.Sleep(2000);
//bot.SetMotorSpeed(0.5, -0.5);
//Thread.Sleep(500);
//bot.SetMotorSpeed(0, 0);
//Thread.Sleep(500);
var d = bot.ReadLineSensor(false);
bot.Beep();
}
// Buzzer ///////////////////
var pwmController3 = PwmController.FromName(FEZBit.Timer.Pwm.Controller3.Id);
var buzzer = pwmController3.OpenChannel(FEZBit.Timer.Pwm.Controller3.Buzzer);
pwmController3.SetDesiredFrequency(500);
buzzer.SetActiveDutyCyclePercentage(0.5);
buzzer.Start();
for (var f = 500; f < 5_000; f += 300)
{
pwmController3.SetDesiredFrequency(f);
Thread.Sleep(1);
}
buzzer.Stop();
bot.SetMotorSpeed(0.5, -0.9);
screen.DrawString("Press A", font12, new SolidBrush(Color.Teal), 50, 90);
screen.Flush();
// wait for A button //////////////////////
var buttonA = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.ButtonA);
buttonA.SetDriveMode(GpioPinDriveMode.InputPullUp);
while (buttonA.Read() == GpioPinValue.High)
{
Thread.Sleep(10);
}
bot.SetMotorSpeed(0, -0);
screen.Clear();
screen.DrawString("TinyCLR OS", font12, new SolidBrush(Color.Teal), 40, 70);
for (var i = 0; i < 128; i += 8)
{
screen.DrawLine(new Pen(Color.Yellow), i, 0, 0, 128 - i);
bot.Beep();
screen.Flush();
}
for (var i = 0; i < 128; i += 8)
{
screen.DrawLine(new Pen(Color.Purple), 160 - i, 0, 160, 128 - i);
bot.Beep();
screen.Flush();
}
Thread.Sleep(-1);
}
public WindowsPwmController(PwmController pwmController)
{
m_PwmController = pwmController;
}
static void TestTpBot()
{
var buzzerController = PwmController.FromName(FEZBit.Timer.Pwm.Controller3.Id);
var buzzerChannel = buzzerController.OpenChannel(FEZBit.Timer.Pwm.Controller3.P0);
var lineDetectLeft = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P13);
var lineDetectRight = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P14);
var voiceSensor = AdcController.FromName(FEZBit.Adc.Controller1.Id).OpenChannel(FEZBit.Adc.Controller1.P1);
var p2remove = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P1);
var distanceTrigger = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P16);
var distanceEcho = GpioController.GetDefault().OpenPin(FEZBit.GpioPin.P15);
p2remove.SetDriveMode(GpioPinDriveMode.Input);
var bot = new TpBotController(
I2cController.FromName(FEZBit.I2cBus.Edge),
buzzerChannel,
lineDetectLeft, lineDetectRight);//, distanceTrigger, distanceEcho);
new Thread(() => {
while (true)
{
bot.SetHeadlight(100, 0, 0);
Thread.Sleep(200);
bot.SetHeadlight(0, 0, 100);
Thread.Sleep(300);
}
}).Start();
/*new Thread(() => {
* while (true) {
* bot.Beep();
* Thread.Sleep(2_000);
* }
* }).Start();
*/
while (true)
{
bot.SetMotorSpeed(0.9, 0.9);
var l = bot.ReadLineSensor(true);
var r = bot.ReadLineSensor(false);
//var v = bot.ReadVoiceLevel();
/*var d = bot.ReadDistance();
* if (d < 20) {
* bot.SetMotorSpeed(-0.9, -0.9);
* Thread.Sleep(200);
* bot.SetMotorSpeed(-0.9, 0.9);
* Thread.Sleep(200);
* bot.SetMotorSpeed(0, 0);
* Thread.Sleep(1000);
*
*
* bot.Beep();
* Thread.Sleep(100);
* bot.Beep();
* Thread.Sleep(100);
* bot.Beep();
* Thread.Sleep(100);
* }*/
Thread.Sleep(10);
}
}
/// <summary>
/// Initializes the RainbowHAT. It will setup all required
/// GPIO pins.
///
/// Caution:
/// This is required before accessing other
/// methods in this class.
/// </summary>
private async void InitializeAsync()
{
Logger.Log(this, "Starting InitializeAsync");
// Check if drivers are enabled
Logger.Log(this, "Checking for LightningProvider");
if (!LightningProvider.IsLightningEnabled)
{
Logger.Log(this, "LightningProvider not enabled. Returning.");
return;
}
// Aggregate provider.
LowLevelDevicesController.DefaultProvider = LightningProvider.GetAggregateProvider();
// Get default controllers.
Logger.Log(this, "Getting default controller.");
pwmController = (await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider()))[1];
gpioController = await GpioController.GetDefaultAsync();
i2cController = await I2cController.GetDefaultAsync();
// Ensure requiored controllers are available.
if (gpioController == null || i2cController == null || pwmController == null)
{
Logger.Log(this, "One or more controller missing.");
return;
}
// Setup controllers.
pwmController.SetDesiredFrequency(50);
// Setup LEDs.
Logger.Log(this, "Setup LEDs");
redPin = gpioController.OpenPin(GPIO_NUMBER_RED);
redPin.Write(GpioPinValue.Low);
redPin.SetDriveMode(GpioPinDriveMode.Output);
greenPin = gpioController.OpenPin(GPIO_NUMBER_GREEN);
greenPin.Write(GpioPinValue.Low);
greenPin.SetDriveMode(GpioPinDriveMode.Output);
bluePin = gpioController.OpenPin(GPIO_NUMBER_BLUE);
bluePin.Write(GpioPinValue.Low);
bluePin.SetDriveMode(GpioPinDriveMode.Output);
// Setup buttons
Logger.Log(this, "Setup buttons");
buttonAPin = gpioController.OpenPin(21);
buttonAPin.SetDriveMode(GpioPinDriveMode.Input);
buttonBPin = gpioController.OpenPin(20);
buttonBPin.SetDriveMode(GpioPinDriveMode.Input);
buttonCPin = gpioController.OpenPin(16);
buttonCPin.SetDriveMode(GpioPinDriveMode.Input);
// Setup buzzer
Logger.Log(this, "Setup buzzers / servos / motors");
buzzerPin = pwmController.OpenPin(GPIO_NUMBER_BUZZER);
buzzerPin.SetActiveDutyCyclePercentage(0.05);
// Setup timer.
Logger.Log(this, "Setup timers");
captiveButtonsValueReadTimer = ThreadPoolTimer.CreatePeriodicTimer(CaptiveButtonsValueReadTimer_Tick, BUTTON_READ_INTERVAL);
temperatureValueReadTimer = ThreadPoolTimer.CreatePeriodicTimer(TemperatureValueReadTimer_Tick, SENSOR_READ_INTERVAL);
pressureValueReadTimer = ThreadPoolTimer.CreatePeriodicTimer(PreassureValueReadTimer_Tick, SENSOR_READ_INTERVAL);
// Initialze child devices
Logger.Log(this, "Setup APA102");
apa102.Initialize(gpioController);
Logger.Log(this, "Setup BMP280");
await bmp280.InitializeAsync(i2cController);
Logger.Log(this, "Setup HT16K33");
ht16k33.Initialize(i2cController);
// Set device as intialized.
Logger.Log(this, "Finished InitializeAsync");
isInitialized = true;
}
/// <summary>
/// Gets a collection of <see cref="PwmController"/> instances that represent all controllers returned by all providers.
/// </summary>
/// <returns>
/// An IAsyncOperation that yields the controllers.
/// </returns>
public IAsyncOperation <IReadOnlyList <PwmController> > GetControllersAsync()
{
return(PwmController.GetControllersAsync(this));
}
public Buzzer()
{
this.controller = PwmController.FromName(Board.BoardType == BoardType.BP2 ? BrainPadBP2.PwmChannel.Controller4.Id : G30.PwmChannel.Controller4.Id);
this.buzz = this.controller.OpenChannel(Board.BoardType == BoardType.BP2 ? BrainPadBP2.PwmChannel.Controller4.PB8 : G30.PwmChannel.Controller4.PB8);
}
public MotorControl(GpioController gpioControllerIn, PwmController pwmControllerIn)
{
gpioController = gpioControllerIn;
pwmController = pwmControllerIn;
}
public MainPage()
{
this.mOffsetQueue = new Queue <double>();
this.InitializeComponent();
this.Sequences = new Dictionary <string, Sequence <double> >
{
{ "Constant", new Sequence <double>(new double[] { 1 }) },
{ "Step", new Sequence <double>(new double[] { 0, 1 }) },
{ "Step (multi)", new Sequence <double>(new double[] { 0, 0.25, 0, 0.25, 0, 0.5, 0.25, 1 }) },
{ "Sawtooth", new Sequence <double>(new double[] { 0, 0.25, 0.5, 0.75, 1 }) },
{ "Ramp", new Sequence <double>(new double[] { 0, 0.1, 0.25, 0.4, 0.6, 1 }) },
{ "Sinusoidal", new Sequence <double>(SinusoidalSequence()) },
{ "Sinusoidal (multi)", new Sequence <double>(SinusoidalSequence(0.5), SinusoidalSequence(0.7), SinusoidalSequence(0.5), SinusoidalSequence(1)) },
{ "Random", new Sequence <double>(RandomSequence(30, 0, 1)) },
};
this.SelectedSequence = Sequences["Constant"];
// populate the sequence list
foreach (var entry in this.Sequences.Keys.OrderBy(x => x))
{
this.SequenceList.Items.Add(entry);
}
Task.Run(async() =>
{
try
{
if (!LightningProvider.IsLightningEnabled)
{
throw new Exception("Requires Lighting to be enabled");
}
var pwmController = (await PwmController.GetControllersAsync(LightningPwmProvider.GetPwmProvider()))[1];
if (pwmController == null)
{
throw new Exception("No PWM controller");
}
var gpioController = (await GpioController.GetControllersAsync(LightningGpioProvider.GetGpioProvider()))[0];
if (gpioController == null)
{
throw new Exception("No PWM controller");
}
pwmController.SetDesiredFrequency(PwmFrequency);
var motorAEnable = pwmController.OpenPin(MotorAEnablePin);
var motorAInput = gpioController.OpenPin(MotorAInputPin);
motorAInput.SetDriveMode(GpioPinDriveMode.Output);
var motorBEnable = pwmController.OpenPin(MotorBEnablePin);
var motorBInput = gpioController.OpenPin(MotorBInputPin);
motorBInput.SetDriveMode(GpioPinDriveMode.Output);
var motorDriver = new L239D()
{
Enable12Pin = motorAEnable,
Input1Pin = motorAInput,
Enable34Pin = motorBEnable,
Input3Pin = motorBInput,
};
motorDriver.StartMotor(L239D.InputPins.Input1);
motorDriver.StartMotor(L239D.InputPins.Input3);
while (true)
{
var sequence = this.SelectedSequence;
foreach (var value in sequence)
{
var power = this.MinPower + value * (this.MaxPower - this.MinPower);
this.mOffsetQueue.Enqueue(power);
motorDriver.DriveMotor(L239D.EnablePins.Enable12, power);
// handle offset if any
while (this.mOffsetQueue.Count > this.MotorOffset)
{
power = this.mOffsetQueue.Dequeue();
}
motorDriver.DriveMotor(L239D.EnablePins.Enable34, power);
await Task.Delay((int)(MinTime + (MaxTime - MinTime) * (1.0 - this.SpeedFactor)));
if (sequence != this.SelectedSequence)
{
break;
}
}
}
motorAEnable.Dispose();
motorAInput.Dispose();
}
catch (Exception ex)
{
var error = ex.ToString();
}
});
}
public static void Main()
{
WatchDog.Start(new TimeSpan(0, 0, 30));
MinorLed.SetDriveMode(GpioPinDriveMode.Output);
MajorLed.SetDriveMode(GpioPinDriveMode.Output);
_lcdShield = new DfRobotLcdShield(20, 4);
// Create a custom degrees symbol (°), store it on the LCD for later use with the lat/long display
_lcdShield.CreateChar(0, new byte[] { 0x0, 0x4, 0xa, 0x4, 0x0, 0x0, 0x0, 0x0 });
// 0 bars are not required as that would just require sending " "
_lcdShield.CreateChar(1, new byte[] { 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1F });
_lcdShield.CreateChar(2, new byte[] { 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x1F, 0x1F });
_lcdShield.CreateChar(3, new byte[] { 0x0, 0x0, 0x0, 0x0, 0x0, 0x1F, 0x1F, 0x1F });
_lcdShield.CreateChar(4, new byte[] { 0x0, 0x0, 0x0, 0x0, 0x1F, 0x1F, 0x1F, 0x1F });
_lcdShield.CreateChar(5, new byte[] { 0x0, 0x0, 0x0, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F });
_lcdShield.CreateChar(6, new byte[] { 0x0, 0x0, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F });
_lcdShield.CreateChar(7, new byte[] { 0x0, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F, 0x1F });
// 8 bars are not required as that would just require sending byte 255.
_thunderbolt = new ThunderBolt("COM1", AngleUnits.Degrees, AltitudeUnits.Meters, FEZ.GpioPin.D13);
_lcdShield.OnButtonPressed += LcdShieldOnOnButtonPressed;
DisplaySplash();
var pwmController = PwmController.FromName(FEZ.PwmChannel.Controller3.Id);
pwmController.SetDesiredFrequency(10000);
var backlight = pwmController.OpenChannel(FEZ.PwmChannel.Controller3.D10);
backlight.SetActiveDutyCyclePercentage(LcdBrightness / 100d);
backlight.Start();
TestLeds();
_thunderbolt.Open();
_thunderbolt.TimingMode = TimingModes.UTC;
_thunderbolt.RequestManufacturingParameters();
_thunderbolt.RequestFirmwareVersion();
_thunderbolt.SetupUnitForDisciplining();
_thunderbolt.RequestTrackedSatelliteStatus();
_thunderbolt.TimeChanged += ThunderboltOnTimeChanged;
Thread.Sleep(3000);
DisplayVersion();
while (true)
{
WatchDog.Reset();
if (_thunderbolt.IsSerialDataBeingReceived)
{
if (!_isSurveyInProgress && _thunderbolt.IsSurveyInProgress())
{
// Survey has just started. Jump to the page displaying survey progress.
_previousPageNumber = _pageNumber; // Take note of the page we were on so we can switch back later.
_isSurveyInProgress = true;
_pageNumber = 2; // Set the new page to jump to.
}
else if (_isSurveyInProgress && !_thunderbolt.IsSurveyInProgress())
{
// Survey has just finished. Jump to the previous page we were displaying.
_pageNumber = _previousPageNumber;
_isSurveyInProgress = false;
}
switch (_pageNumber)
{
case 1:
DisplayScreenOne();
break;
case 2:
DisplayScreenTwo();
break;
case 3:
DisplayScreenThree();
break;
case 4:
DisplayScreenFour();
break;
case 5:
DisplaySatelliteSignalScreen();
break;
case 6:
DisplayPRNScreen();
break;
case 7:
DisplayDOPScreen();
break;
default:
DisplayScreenOne();
break;
}
UpdateAlarmIndicators();
}
else
{
DisplayNoSerialDataScreen();
}
}
}
public AlarmClock(PwmController pwmController)
{
_pwmController = pwmController;
}
public SignalRConnection(PwmController pwmController)
{
_pwmController = pwmController;
}
static async Task MainAsync()
{
try
{
string input = "";
bool exit = input.Equals("exit");
UpBridge.Up upb = new UpBridge.Up();
Console.WriteLine("UWP console PWM test:");
PwmController controller = await PwmController.GetDefaultAsync();
pin1.pin = 0;
//print Board INFO
Console.WriteLine(upb.BoardGetManufacture() + "\n"
+ "Board Name: " + upb.BoardGetName() + "\n"
+ "BIOS Ver: " + upb.BoardGetBIOSVersion() + "\n"
+ "Firmware Ver:" + upb.BoardGetFirmwareVersion().ToString("X") + "\n");
PwmPin pin = controller.OpenPin(0);
Console.WriteLine(Usage);
while (exit == false)
{
Console.Write(pin1.pin.ToString() + ">");
input = Console.ReadLine();
string[] inputnum = input.Split(' ');
switch (inputnum[0].ToLower())
{
case "list":
pwmlist();
break;
case "set":
if (inputnum.Length == 2)
{
pin.Dispose();
int pin_convert;
if (int.TryParse(inputnum[1], out pin_convert))
{
if (pin_convert == pin1.pin)
{
Console.WriteLine("This Pin is currently setting");
}
else
{
int pin_current = pin1.pin;
pin1.pin = pin_convert;
try
{
controller = await PwmController.GetDefaultAsync();
pin = controller.OpenPin(pin1.pin);
Console.WriteLine("You select pin " + pin1.pin + " to set");
}
catch (Exception e)
{
pin1.pin = pin_current;
pin = controller.OpenPin(pin1.pin);
Console.WriteLine(e.Message);
}
}
}
else
{
Console.WriteLine("Please input : set {int}");
}
}
else
{
Console.WriteLine("Please input : set {int}");
}
break;
case "get":
if (inputnum.Length == 1)
{
Console.WriteLine("Pin " + pin1.pin + "\n");
Console.WriteLine("Max Frequency : " + controller.MaxFrequency + "\n");
Console.WriteLine("Min Frequency : " + controller.MinFrequency + "\n");
Console.WriteLine("Actual Frequency : " + controller.ActualFrequency + "\n");
Console.WriteLine("Duty Cycle : " + pin.GetActiveDutyCyclePercentage() + "\n");
Console.WriteLine("Pin Status : " + pin.IsStarted + "\n");
}
else
{
Console.WriteLine("Please input : get");
}
break;
case "frequency":
if (inputnum.Length == 2)
{
try
{
if (double.TryParse(inputnum[1], out pin1.pin_ActualFrequency))
{
Console.WriteLine("Frequency set : " + pin1.pin_ActualFrequency);
controller.SetDesiredFrequency(pin1.pin_ActualFrequency);
pin.Start();
}
else
{
Console.WriteLine("Please input : frequency {double}");
}
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
else
{
Console.WriteLine("Please input : frequency {double}");
}
break;
case "duty":
if (inputnum.Length == 2)
{
try
{
if (double.TryParse(inputnum[1], out pin1.pin_DutyCycle))
{
Console.WriteLine("duty set : " + pin1.pin_DutyCycle);
pin.SetActiveDutyCyclePercentage(pin1.pin_DutyCycle);
pin.Start();
}
else
{
Console.WriteLine("Please input : duty {double}");
}
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
else
{
Console.WriteLine("Please input : duty {double}");
}
break;
case "exit":
exit = inputnum[0].Equals("exit");
pin.Dispose();
break;
case "help":
default:
Console.WriteLine(Usage);
break;
}
}
}
catch (Exception e)
{
Console.WriteLine(e.Message);
}
}
