public IndirectedPwmOutput(int channel, PCA9685 pwm) {
this.channel = channel;
this.pwm = pwm;
}
protected async override Task Initialize() {
this.gpioMap = FEZCream.CreateGpioMap();
this.analogMap = FEZCream.CreateAnalogMap();
this.pwmMap = FEZCream.CreatePwmMap();
this.analogSharedMap = FEZCream.CreateAnalogSharedMap();
this.pwmSharedMap = FEZCream.CreatePwmSharedMap();
this.analog = new ADS7830(await NativeInterfaces.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(ADS7830.GetAddress(false, false))));
this.pwm = new PCA9685(await NativeInterfaces.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9685.GetAddress(true, true, true, true, true, true))));
this.gpios = new PCA9535[2];
this.gpios[0] = new PCA9535(await NativeInterfaces.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9535.GetAddress(true, true, false))), await NativeInterfaces.DigitalIO.CreateInterfaceAsync(22));
this.gpios[1] = new PCA9535(await NativeInterfaces.I2cDevice.CreateInterfaceAsync("I2C1", new I2cConnectionSettings(PCA9535.GetAddress(true, false, true))), await NativeInterfaces.DigitalIO.CreateInterfaceAsync(26));
for (var i = 2; i <= 7; i++) {
this.gpios[0].SetDriveMode(i, GpioPinDriveMode.Output);
this.gpios[0].Write(i, true);
}
Socket socket;
socket = this.CreateSocket(1);
socket.AddSupportedTypes(SocketType.I);
socket.SetNativePin(SocketPinNumber.Three, 18);
socket.NativeI2cDeviceId = "I2C1";
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(2);
socket.AddSupportedTypes(SocketType.U);
socket.NativeSerialDeviceId = "COM1";
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(3);
socket.AddSupportedTypes(SocketType.S, SocketType.X);
socket.SetNativePin(SocketPinNumber.Three, 24);
socket.SetNativePin(SocketPinNumber.Four, 25);
socket.SetNativePin(SocketPinNumber.Five, 13);
socket.NativeSpiDeviceId = "SPI0";
socket.NativeSpiChipSelectPin = 0;
socket = this.CreateSocket(4);
socket.AddSupportedTypes(SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 6);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket = this.CreateSocket(5);
socket.AddSupportedTypes(SocketType.A);
socket.SetNativePin(SocketPinNumber.Three, 12);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.AnalogIOCreator = this.AnalogIOCreator;
socket = this.CreateSocket(6);
socket.AddSupportedTypes(SocketType.A);
socket.SetNativePin(SocketPinNumber.Three, 16);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.AnalogIOCreator = this.AnalogIOCreator;
socket = this.CreateSocket(7);
socket.AddSupportedTypes(SocketType.P, SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 5);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.PwmOutputCreator = this.PwmOutputCreator;
socket = this.CreateSocket(8);
socket.AddSupportedTypes(SocketType.P, SocketType.Y);
socket.SetNativePin(SocketPinNumber.Three, 27);
socket.DigitalIOCreator = this.DigitalIOCreator;
socket.PwmOutputCreator = this.PwmOutputCreator;
socket = this.CreateSocket(9);
socket.AddSupportedTypes(SocketType.I);
socket.SetNativePin(SocketPinNumber.Three, 23);
socket.NativeI2cDeviceId = "I2C1";
socket.DigitalIOCreator = this.DigitalIOCreator;
}
internal Servo(PCA9685 pwm, int channel) {
this.pwm = pwm;
this.channel = channel;
this.position = 0.0;
this.limitsSet = false;
}
internal Motor(PCA9685 pwm, int pwmChannel, int direction1Pin, int direction2Pin) {
var gpioController = GpioController.GetDefault();
this.speed = 0.0;
this.pwm = pwm;
this.disposed = false;
this.direction1 = gpioController.OpenPin(direction1Pin);
this.direction2 = gpioController.OpenPin(direction2Pin);
this.pwmChannel = pwmChannel;
this.direction1.SetDriveMode(GpioPinDriveMode.Output);
this.direction2.SetDriveMode(GpioPinDriveMode.Output);
}
internal RgbLed(PCA9685 pwm, int redChannel, int greenChannel, int blueChannel) {
this.color = Color.Black;
this.pwm = pwm;
this.redChannel = redChannel;
this.greenChannel = greenChannel;
this.blueChannel = blueChannel;
}
