/// <summary>
/// Create an instance of the ULN2003 driver (currently only supports 28BYJ step motor)
/// </summary>
public ULN2003(int IN1pin, int IN2pin, int IN3pin, int IN4pin, ULN2003Enums motorType = ULN2003Enums.STEP_28BYJ)
{
if (motorType == ULN2003Enums.Other)
{
IsSupported = false;
}
else
{
var gpio = GpioController.GetDefault();
if (gpio != null)
{
IN1 = gpio.OpenPin(IN1pin);
IN2 = gpio.OpenPin(IN2pin);
IN3 = gpio.OpenPin(IN3pin);
IN4 = gpio.OpenPin(IN4pin);
IN1.SetDriveMode(GpioPinDriveMode.Output);
IN2.SetDriveMode(GpioPinDriveMode.Output);
IN3.SetDriveMode(GpioPinDriveMode.Output);
IN4.SetDriveMode(GpioPinDriveMode.Output);
SetGPIOWrite(0, 0, 0, 0);
SetStepSequences(motorType);
SafeBreakMe = new SafeBreak();
SafeBreakMe.PropertyChanged += SafeBreakMe_PropertyChanged;
IsInitialized = true;
}
}
}
private void SetStepSequences(ULN2003Enums motorType)
{
if (motorType == ULN2003Enums.STEP_28BYJ)
{
// Each sequence is a step for the step motor
Step_Seqs = new List <int[]>()
{
new int[] { 1, 0, 0, 0 },
new int[] { 1, 1, 0, 0 },
new int[] { 0, 1, 0, 0 },
new int[] { 0, 1, 1, 0 },
new int[] { 0, 0, 1, 0 },
new int[] { 0, 0, 1, 1 },
new int[] { 0, 0, 0, 1 },
new int[] { 1, 0, 0, 1 }
};
}
}
private void SetStepSequences(ULN2003Enums motorType)
{
if (motorType == ULN2003Enums.STEP_28BYJ)
{
// Each sequence is a step for the step motor
Step_Seqs = new List <bool[]>()
{
new bool[] { true, false, false, false },
new bool[] { true, true, false, false },
new bool[] { false, true, false, false },
new bool[] { false, true, true, false },
new bool[] { false, false, true, false },
new bool[] { false, false, true, true },
new bool[] { false, false, false, true },
new bool[] { true, false, false, true }
};
}
}
/// <summary>
/// Create an instance of the ULN2003 driver (currently only supports 28BYJ step motor)
/// </summary>
public ULN2003(IOPi bus, byte pin1, byte pin2, byte pin3, byte pin4, ULN2003Enums motorType = ULN2003Enums.STEP_28BYJ)
{
if (motorType == ULN2003Enums.Other)
{
IsSupported = false;
}
else
{
Bus = bus;
IN1pin = pin1;
IN2pin = pin2;
IN3pin = pin3;
IN4pin = pin4;
Bus.SetPinDirection(IN1pin, false);
Bus.SetPinDirection(IN2pin, false);
Bus.SetPinDirection(IN3pin, false);
Bus.SetPinDirection(IN4pin, false);
//IN1 = gpio.OpenPin(IN1pin);
//IN2 = gpio.OpenPin(IN2pin);
//IN3 = gpio.OpenPin(IN3pin);
//IN4 = gpio.OpenPin(IN4pin);
//IN1.SetDriveMode(GpioPinDriveMode.Output);
//IN2.SetDriveMode(GpioPinDriveMode.Output);
//IN3.SetDriveMode(GpioPinDriveMode.Output);
//IN4.SetDriveMode(GpioPinDriveMode.Output);
SetGPIOWrite(false, false, false, false);
SetStepSequences(motorType);
SafeBreakMe = new SafeBreak();
SafeBreakMe.PropertyChanged += SafeBreakMe_PropertyChanged;
IsInitialized = true;
}
}
