/// <summary>
/// Runs one of the abstract samples using physical ports of an Netduino 3 board.
/// </summary>
public static void Main()
{
AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2 shield;
#if Sample01SimpleBlinker
// Sample 01: Blink a LED:
AbstractIO.Samples.Sample01SimpleBlinker.Run(
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample01SimpleBlinkerDistributed
// Sample 01 again, but this time blinking several LEDs at once simply by distributing the output to them
// using a BooleanOutputDistributor object, which on itself implements IBooleanOutput and simply passes the
// Values to an arbitrary number of outputs:
AbstractIO.Samples.Sample01SimpleBlinker.Run(
lamp: new BooleanOutputDistributor(
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led)));
#elif Sample01SimpleBlinkerAlternating
// Sample 01 again, but this time blinking two LEDs alternating by using the BooleanOutputDistributor
// combined with inverting one of the outputs using the BooleanOutputInverter, coded using the fluent API
// that the corresponding extension method offers:
AbstractIO.Samples.Sample01SimpleBlinker.Run(
lamp: new BooleanOutputDistributor(
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led).Inverted(),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue).Inverted()));
#elif Sample02SmoothPwmBlinker
// Sample 02: Let a lamp blink smoothly. The abstract code just expects any IDoubleOutput and will cyle that
// in small steps from 0.0 to 1.0 and back to 0.0 forever. As an example of an IDoubleOutput, we pass a
// PWM-controlled pin:
AbstractIO.Samples.Sample02SmoothBlinker.Run(
lamp: new Netduino3.AnalogPwmOutput(DigitalPwmOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampPolling
// Sample 03: Control a LED using a button:
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampPollingInvertingButton
// Sample 03 again, but this time inverting the button simply by using a BooleanInputConverter, simply by
// using the fluent API offered by the corresponding extension methods:
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(DigitalInputPin.OnboardButton).Invert(),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampPollingInvertingLamp
// Sample 03 again, but this time inverting the lamp simply by using a BooleanOuputConverter, simply by
// using the fluent API offered by the corresponding extension methods:
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue).Inverted());
#elif Sample03ButtonControlsLampUsing2ButtonsWithAnd
// Sample 03 again, but this time the lamp shall only light up if both of two buttons are pressed.
// To use this sample, connect two closing buttons to the Netduino 3 input pins D0 and D1 with their other
// ports connected to VSS (+5V).
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new BooleanAndInput(
new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D0),
new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D1)),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampUsing2ButtonsWithOr
// Sample 03 again, but this time the lamp shall light up if one or both of two buttons are pressed.
// To use this sample, connect two closing buttons to the Netduino 3 input pins D0 and D1 with their other
// ports connected to VSS (+5V).
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new BooleanOrInput(
new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D0),
new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D1)),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampBlinking
// Sample 03 again, but this time we let the lamp blink simply by using the BlinkedWhenTrueOutput class,
// coded using the fluent API provided by extension methods:
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue)
.BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));
#elif Sample03ButtonControlsLampBlinkingSmoothly
// Sample 03 again, but this time we let the lamp blink smoothly by using PWM and the SmoothedOutput class,
// coded using fluent API (even if the Run() method does nothing than simply turn the "output" on when the
// button is pressed). Read the definition of the lamp in reverse order:
// - Incoming is simply the boolean signal of the button.
// - This is made blink (BlinkedWhenTrue).
// - This, still boolean, value gets mapped to the double number 0.0 for false and 1.0 for true
// (MappedFromBoolean).
// - This signal, which switches between 0.0 and 1.0, is then smoothed to slowly enlight or dimm the lamp
// (Smoothed).
// - This, finally, is fed into the AnalogPwmOutput controlling the LED.
// So, using the fluent API for outputs is coded from back to front: Define the target output (here, the
// PWM-controlled LED, that is an IDoubleOutput), and apply transformations until you get an "I(type)Output"
// output where "(type)" matches the output type expected (here, an IBooleanOutput).
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)
.Smoothed(valueChangePerSecond: 1.0f, rampIntervalMs: 20)
.MappedFromBoolean(falseValue: 0.0f, trueValue: 1.0f)
.BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));
#elif Sample04ButtonControlsLampEventBased
// Sample 04: Control a lamp using a button, but this time do not poll the status of the button, but react
// to the ValueChanged event (that is, reacting on an IRQ generated by the µC whenever the status of the
// button's input pin changed).
AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
button: new Netduino3.ObservableDigitalInput(DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample04ButtonControlsLampEventBasedInvertingButton
// Sample 04 again: Control a lamp using a button using events, but with an inverted button using the
// ObserverableBooleanInputInverter class, coded using the fluent API that the extension methods offer.
AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
button: new Netduino3.ObservableDigitalInput(DigitalInputPin.OnboardButton).Invert(),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample04ButtonControlsLampEventBasedSmoothly
// Sample 04 again, but let the LED blink smoothly just as in Sample03ButtonControlsLampBlinkingSmoothly.
// We do the very same here: Convert the IBooleanOutput of the event based method to the smoothly blinking
// IDoubleOutput for the PWM-controlled LED. It works all the same whether we use a polling IBooleanInput
// or the IRQ/event-based variant IObservableBooleanInput for the button. The output possibillities are just
// the same.
AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
button: new Netduino3.ObservableDigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)
.Smoothed(valueChangePerSecond: 1.0f, rampIntervalMs: 20)
.MappedFromBoolean(falseValue: 0.0f, trueValue: 1.0f)
.BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));
#elif Sample05ControlLampBrightnessThroughAnalogInput
// Sample 05: Let a LED light up just as bright (in the range from 0.0 to 1.0) as an analog input gives
// values (also in the range from 0.0 to 1.0). Note that the input range is not scaled in any way in this
// sample, but just goes straigt to the output. To run this sample, connect a variable resistor (such as a
// photo cell) between anlog input pin A0 and GND (0V). Then, the lamp will light darker as more light goes
// to the photo cell.
AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));
#elif Sample05ControlLampBrightnessThroughAnalogInputScaled
// Sample 05 again, but this time auto-learn the actual incoming value range of the input and scale it to
// the range from 0.0 to 1.0 using the ScaleToRangeInput class, coded using the fluent API of the
// corresponding extension methods. This will cause the full range from 0.0 to 1.0 being used on the lamp,
// regardless if, for example, the incoming values range only from 0.3 to 0.6. To run this sample, connect a
// variable resistor (such as a photo cell) between anlog input pin A0 and GND (0V).
AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0)
.ScaleToRange(smallestValueMappedTo: 0.0f, largestValueMappedTo: 1.0f),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));
#elif Sample05ControlLampBrightnessThroughAnalogInputScaledInverted
// Sample 05 again, but this time the auto-learned ranged has swapped lower and upper limits. This results
// in the lamp going brighter when the analog input signal gets lower (that is, the photo cell getting more
// light, and vice versa. To run this sample, connect a variable resistor (such as a photo cell) between
// anlog input pin A0 and GND (0V).
AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0)
.ScaleToRange(smallestValueMappedTo: 1.0f, largestValueMappedTo: 0.0f),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));
#elif Sample06WaitForButtonPolling
// Sample 06: Wait for an input to reach a specific value, or to change, using the WaitFor() and
// WaitForChange() extension methods. In this sample, the button is used only as an IBooleanInput, so that
// waiting will cause polling. See sample 07 for the exact same code, just using the butten as an
// IObservableBooleanInput, working without polling.
AbstractIO.Samples.Sample06WaitForButtonPolling.Run(
button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample07WaitForButtonEventBased
// Sample 07: Nearly the same as sample 06, but using the button as an IObservableBooleanInput insted of
// a plain IBooleanInput. This allows the WaitFor() and WaitForChange() methods to use IRQ events instead of
// polling:
AbstractIO.Samples.Sample07WaitForButtonEventBased.Run(
button: new Netduino3.ObservableDigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample02LetMotorRun
// Connect to the Adafruit V2 shield at its default address:
shield = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2();
// Use the sample controlling a lamp just control a motor, as both implement IDoubleOutput:
AbstractIO.Samples.Sample02SmoothBlinker.Run(
lamp: shield.GetDcMotor(1));
#elif Sample08LetManyMotorsRun
// Control as many motors you whish on as many motor shields you whish simultaneously:
// Let a lamp blink smoothly on a separate thread as a means to see how smooth all these operations can be
// handled by the board:
Thread blinkThread = new Thread(
() => AbstractIO.Samples.Sample02SmoothBlinker.Run(
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)));
blinkThread.Start();
// Run the sample, using as many motors as you like:
// As additional ideas, suppose that:
// - All motors can run on 9V, but one only on 6V. So we scale this motor's output by 6/9.
// - One DC motor has its pins swapped and needs output in reverse polarity. So scale by a factor of -1.
// Note that the Run() method does not know nor needs to know about this facts about the actual motors, and
// that all we need to do is to pass scaled outputs using the fluent API to the Run() method.
//
// We pass 3 onboard LEDs to display the number of motors which are (still) accelerating or decelerating
// as numbers 0, 1, 2 or greater than 2.
//
// We let the Run() method run on its own thread because blocking the main thread by waiting for
// ManualResetEvents (as is done while the Run() method waits) would block the whole OS (as of 2018-05-05).
var shield1 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(96);
var shield2 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);
var shield3 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(98);
var shield4 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(99);
Thread runner = new Thread(() =>
AbstractIO.Samples.Sample08SmoothManyAnalogOutputs.Run(
new IBooleanOutput[] {
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led)
},
shield1.GetDcMotor(1),
shield1.GetDcMotor(2),
shield1.GetDcMotor(3),
shield1.GetDcMotor(4),
shield2.GetDcMotor(1),
shield2.GetDcMotor(2),
shield2.GetDcMotor(3),
shield2.GetDcMotor(4),
shield3.GetDcMotor(1).Scaled(factor: 6.0f / 9.0f),
shield3.GetDcMotor(2),
shield3.GetDcMotor(3),
shield3.GetDcMotor(4),
shield4.GetDcMotor(1).Scaled(factor: -1.0f),
shield4.GetDcMotor(2),
shield4.GetDcMotor(3),
shield4.GetDcMotor(4)));
runner.Start();
for (; ;)
{
Thread.Sleep(10);
}
#elif Sample09SimpleStepperMotor
// Let a stepper motor turn randomly:
shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2();
//new Thread(() =>
// AbstractIO.Samples.Sample09SimpleStepperMotor.Run(shield.GetStepperMotor(1, 2, 8)))
// .Start();
const float scale = 0.4f;
new Thread(() =>
AbstractIO.Samples.Sample09SimpleStepperMotor.Run(
new StepperMotor(shield.GetDcMotor(1).Scaled(scale), shield.GetDcMotor(2).Scaled(scale), 8)))
.Start();
for (; ;)
{
Thread.Sleep(10);
}
#elif Sample10StepperMotorClock
// Let a simple clock run by turning a stepper motor a given number of steps every minute:
shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);
const float clockScale = 0.2f;
new Thread(() =>
AbstractIO.Samples.Sample10StepperMotorClock.Run(
stepper: new StepperMotor(phase1Output: shield.GetDcMotor(1).Scaled(clockScale),
phase2Output: shield.GetDcMotor(2).Scaled(clockScale),
stepsPerStepCycle: 4),
stepsPerMinute: 4,
pauseBetweenStepsInMs: 50))
.Start();
for (; ;)
{
Thread.Sleep(10);
}
#elif Sample11SimpleTrainWithDoors
// Let a train run:
shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);
AbstractIO.Samples.Sample11SimpleTrainWithDoors.Run(
trainMotor: shield.GetDcMotor(1).Smoothed(valueChangePerSecond: 2.0f, rampIntervalMs: 20),
train1ReachedBottomStation: new Netduino3.DigitalInput(DigitalInputPin.D0),
train2ReachedBottomStation: new Netduino3.DigitalInput(DigitalInputPin.D1),
doorMotor: shield.GetDcMotor(2),
redLight: shield.GetDcMotor(3).MappedFromBoolean(falseValue: 0.0f, trueValue: 1.0f),
greenLight: shield.GetDcMotor(4).MappedFromBoolean(falseValue: 0.0f, trueValue: 1.0f),
waitForDoorsToMoveInMs: 4000,
waitWithOpenDoorsInMs: 3000,
waitAroundDoorOperationsInMs: 2000);
#else
#error Please uncomment exactly one of the samples.
#endif
}
/// <summary>
/// Runs one of the abstract samples using physical ports of an Netduino 3 board.
/// </summary>
public static void Main()
{
// AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2 shield;
#if Sample01SimpleBlinker
// Sample 01: Blink a LED:
AbstractIO.Samples.Sample01SimpleBlinker.Run(
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample01SimpleBlinkerDistributed
// Sample 01 again, but this time blinking several LEDs at once simply by distributing the output to them
// using a BooleanOutputDistributor object, which on itself implements IBooleanOutput and simply passes the
// Values to an arbitrary number of outputs:
AbstractIO.Samples.Sample01SimpleBlinker.Run(
lamp: new BooleanOutputDistributor(
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led)));
#elif Sample01SimpleBlinkerAlternating
// Sample 01 again, but this time blinking two LEDs alternating by using the BooleanOutputDistributor
// combined with inverting one of the outputs using the BooleanOutputInverter, coded using the fluent API
// that the corresponding extension method offers:
AbstractIO.Samples.Sample01SimpleBlinker.Run(
lamp: new BooleanOutputDistributor(
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led).Inverted(),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue).Inverted()));
#elif Sample02SmoothPwmBlinker
// Sample 02: Let a lamp blink smoothly. The abstract code just expects any IDoubleOutput and will cyle that
// in small steps from 0.0 to 1.0 and back to 0.0 forever. As an example of an IDoubleOutput, we pass a
// PWM-controlled pin:
AbstractIO.Samples.Sample02SmoothBlinker.Run(
lamp: new Netduino3.AnalogPwmOutput(DigitalPwmOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampPolling
// Sample 03: Control a LED using a button:
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampPollingInvertingButton
// Sample 03 again, but this time inverting the button simply by using a BooleanInputConverter, simply by
// using the fluent API offered by the corresponding extension methods:
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(DigitalInputPin.OnboardButton).Invert(),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampPollingInvertingLamp
// Sample 03 again, but this time inverting the lamp simply by using a BooleanOuputConverter, simply by
// using the fluent API offered by the corresponding extension methods:
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue).Inverted());
#elif Sample03ButtonControlsLampUsing2ButtonsWithAnd
// Sample 03 again, but this time the lamp shall only light up if both of two buttons are pressed.
// To use this sample, connect two closing buttons to the Netduino 3 input pins D0 and D1 with their other
// ports connected to VSS (+5V).
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new BooleanAndInput(
new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D0),
new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D1)),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampUsing2ButtonsWithOr
// Sample 03 again, but this time the lamp shall light up if one or both of two buttons are pressed.
// To use this sample, connect two closing buttons to the Netduino 3 input pins D0 and D1 with their other
// ports connected to VSS (+5V).
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new BooleanOrInput(
new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D0),
new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D1)),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample03ButtonControlsLampBlinking
// Sample 03 again, but this time we let the lamp blink simply by using the BlinkedWhenTrueOutput class,
// coded using the fluent API provided by extension methods:
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue)
.BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));
#elif Sample03ButtonControlsLampBlinkingSmoothly
// Sample 03 again, but this time we let the lamp blink smoothly by using PWM and the SmoothedOutput class,
// coded using fluent API (even if the Run() method does nothing than simply turn the "output" on when the
// button is pressed). Read the definition of the lamp in reverse order:
// - Incoming is simply the boolean signal of the button.
// - This is made blink (BlinkedWhenTrue).
// - This, still boolean, value gets mapped to the double number 0.0 for false and 1.0 for true
// (MappedFromBoolean).
// - This signal, which switches between 0.0 and 1.0, is then smoothed to slowly enlight or dimm the lamp
// (Smoothed).
// - This, finally, is fed into the AnalogPwmOutput controlling the LED.
// So, using the fluent API for outputs is coded from back to front: Define the target output (here, the
// PWM-controlled LED, that is an IDoubleOutput), and apply transformations until you get an "I(type)Output"
// output where "(type)" matches the output type expected (here, an IBooleanOutput).
AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)
.Smoothed(valueChangePerSecond: 1.0f, rampIntervalMs: 20)
.MappedFromBoolean(falseValue: 0.0f, trueValue: 1.0f)
.BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));
#elif Sample04ButtonControlsLampEventBased
// Sample 04: Control a lamp using a button, but this time do not poll the status of the button, but react
// to the ValueChanged event (that is, reacting on an IRQ generated by the µC whenever the status of the
// button's input pin changed).
AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
button: new Netduino3.ObservableDigitalInput(DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample04ButtonControlsLampEventBasedInvertingButton
// Sample 04 again: Control a lamp using a button using events, but with an inverted button using the
// ObserverableBooleanInputInverter class, coded using the fluent API that the extension methods offer.
AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
button: new Netduino3.ObservableDigitalInput(DigitalInputPin.OnboardButton).Invert(),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample04ButtonControlsLampEventBasedSmoothly
// Sample 04 again, but let the LED blink smoothly just as in Sample03ButtonControlsLampBlinkingSmoothly.
// We do the very same here: Convert the IBooleanOutput of the event based method to the smoothly blinking
// IDoubleOutput for the PWM-controlled LED. It works all the same whether we use a polling IBooleanInput
// or the IRQ/event-based variant IObservableBooleanInput for the button. The output possibillities are just
// the same.
AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
button: new Netduino3.ObservableDigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)
.Smoothed(valueChangePerSecond: 1.0f, rampIntervalMs: 20)
.MappedFromBoolean(falseValue: 0.0f, trueValue: 1.0f)
.BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));
#elif Sample05ControlLampBrightnessThroughAnalogInput
// Sample 05: Let a LED light up just as bright (in the range from 0.0 to 1.0) as an analog input gives
// values (also in the range from 0.0 to 1.0). Note that the input range is not scaled in any way in this
// sample, but just goes straigt to the output. To run this sample, connect a variable resistor (such as a
// photo cell) between anlog input pin A0 and GND (0V). Then, the lamp will light darker as more light goes
// to the photo cell.
AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));
#elif Sample05ControlLampBrightnessThroughAnalogInputScaled
// Sample 05 again, but this time auto-learn the actual incoming value range of the input and scale it to
// the range from 0.0 to 1.0 using the ScaleToRangeInput class, coded using the fluent API of the
// corresponding extension methods. This will cause the full range from 0.0 to 1.0 being used on the lamp,
// regardless if, for example, the incoming values range only from 0.3 to 0.6. To run this sample, connect a
// variable resistor (such as a photo cell) between anlog input pin A0 and GND (0V).
AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0)
.ScaleToRange(smallestValueMappedTo: 0.0f, largestValueMappedTo: 1.0f),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));
#elif Sample05ControlLampBrightnessThroughAnalogInputScaledInverted
// Sample 05 again, but this time the auto-learned ranged has swapped lower and upper limits. This results
// in the lamp going brighter when the analog input signal gets lower (that is, the photo cell getting more
// light, and vice versa. To run this sample, connect a variable resistor (such as a photo cell) between
// anlog input pin A0 and GND (0V).
AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0)
.ScaleToRange(smallestValueMappedTo: 1.0f, largestValueMappedTo: 0.0f),
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));
#elif Sample06WaitForButtonPolling
// Sample 06: Wait for an input to reach a specific value, or to change, using the WaitFor() and
// WaitForChange() extension methods. In this sample, the button is used only as an IBooleanInput, so that
// waiting will cause polling. See sample 07 for the exact same code, just using the butten as an
// IObservableBooleanInput, working without polling.
AbstractIO.Samples.Sample06WaitForButtonPolling.Run(
button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample07WaitForButtonEventBased
// Sample 07: Nearly the same as sample 06, but using the button as an IObservableBooleanInput insted of
// a plain IBooleanInput. This allows the WaitFor() and WaitForChange() methods to use IRQ events instead of
// polling:
AbstractIO.Samples.Sample07WaitForButtonEventBased.Run(
button: new Netduino3.ObservableDigitalInput(Netduino3.DigitalInputPin.OnboardButton),
lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));
#elif Sample02LetMotorRun
// Connect to the Adafruit V2 shield at its default address:
shield = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2();
// Use the sample controlling a lamp just control a motor, as both implement IDoubleOutput:
AbstractIO.Samples.Sample02SmoothBlinker.Run(
lamp: shield.GetDcMotor(1));
#elif Sample08LetManyMotorsRun
// Control as many motors you whish on as many motor shields you whish simultaneously:
// Let a lamp blink smoothly on a separate thread as a means to see how smooth all these operations can be
// handled by the board:
Thread blinkThread = new Thread(
() => AbstractIO.Samples.Sample02SmoothBlinker.Run(
lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)));
blinkThread.Start();
// Run the sample, using as many motors as you like:
// As additional ideas, suppose that:
// - All motors can run on 9V, but one only on 6V. So we scale this motor's output by 6/9.
// - One DC motor has its pins swapped and needs output in reverse polarity. So scale by a factor of -1.
// Note that the Run() method does not know nor needs to know about this facts about the actual motors, and
// that all we need to do is to pass scaled outputs using the fluent API to the Run() method.
//
// We pass 3 onboard LEDs to display the number of motors which are (still) accelerating or decelerating
// as numbers 0, 1, 2 or greater than 2.
//
// We let the Run() method run on its own thread because blocking the main thread by waiting for
// ManualResetEvents (as is done while the Run() method waits) would block the whole OS (as of 2018-05-05).
var shield1 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(96);
var shield2 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);
var shield3 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(98);
var shield4 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(99);
Thread runner = new Thread(() =>
AbstractIO.Samples.Sample08SmoothManyAnalogOutputs.Run(
new IBooleanOutput[] {
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led),
new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led)
},
shield1.GetDcMotor(1),
shield1.GetDcMotor(2),
shield1.GetDcMotor(3),
shield1.GetDcMotor(4),
shield2.GetDcMotor(1),
shield2.GetDcMotor(2),
shield2.GetDcMotor(3),
shield2.GetDcMotor(4),
shield3.GetDcMotor(1).Scaled(factor: 6.0f / 9.0f),
shield3.GetDcMotor(2),
shield3.GetDcMotor(3),
shield3.GetDcMotor(4),
shield4.GetDcMotor(1).Scaled(factor: -1.0f),
shield4.GetDcMotor(2),
shield4.GetDcMotor(3),
shield4.GetDcMotor(4)));
runner.Start();
for (; ;)
{
Thread.Sleep(10);
}
#elif Sample09SimpleStepperMotor
// Let a stepper motor turn randomly:
shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2();
//new Thread(() =>
// AbstractIO.Samples.Sample09SimpleStepperMotor.Run(shield.GetStepperMotor(1, 2, 8)))
// .Start();
const float scale = 0.4f;
new Thread(() =>
AbstractIO.Samples.Sample09SimpleStepperMotor.Run(
new StepperMotor(shield.GetDcMotor(1).Scaled(scale), shield.GetDcMotor(2).Scaled(scale), 8)))
.Start();
for (; ;)
{
Thread.Sleep(10);
}
#elif Sample10StepperMotorClock
// Let a simple clock run by turning a stepper motor a given number of steps every minute:
shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);
const float clockScale = 0.2f;
new Thread(() =>
AbstractIO.Samples.Sample10StepperMotorClock.Run(
stepper: new StepperMotor(phase1Output: shield.GetDcMotor(1).Scaled(clockScale),
phase2Output: shield.GetDcMotor(2).Scaled(clockScale),
stepsPerStepCycle: 4),
stepsPerMinute: 4,
pauseBetweenStepsInMs: 50))
.Start();
for (; ;)
{
Thread.Sleep(10);
}
#elif Sample11SimpleTrainWithDoors
// Let a train run:
shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);
AbstractIO.Samples.Sample11SimpleTrainWithDoors.Run(
trainMotor: shield.GetDcMotor(1).Smoothed(valueChangePerSecond: 2.0f, rampIntervalMs: 20),
trainReachedBottomStation: new BooleanOrInput(new Netduino3.DigitalInput(DigitalInputPin.D0),
new Netduino3.DigitalInput(DigitalInputPin.D1)),
doorMotor: shield.GetDcMotor(2),
waitForDoorsToMoveInMs: 1000,
waitWithOpenDoorsInMs: 3000,
waitAroundDoorOperationsInMs: 1000);
#elif Sample12ClockWithContinuouslyControlledMotor
// Let a clock run that is driven by a simple DC motor (no stepper) and which has a digital input that gives
// a specific number of "1" pulses for a turn of a specific axis of the clock's gear.
// The motor is a simple DC motor. As its pins are swapped in the fischertechnik model currently, we use
// the .Scaled() extension to turn its direction by a factor of -1.
// The pulse switch is a contact customly built out of fischertechnik parts directly on a very small
// metallic worm gear. Note that its value is not only fed into the model code, but also tee-like output to
// a monitor LED.
// The seconds lamp is driven independently of all this. The model code just has a timer changing a boolean
// output each time it fires. To have the effect of a lamp going smoothly on and of, we use the
// .Smoothed() extension method to smooth the boolean value from the timer code into a nice looking LED
// pattern.
// The ideal seconds per pulse are calculated for a miniaturized fischertechnik clock with the following
// gear:
// Motor worm => Z14 and worm => Z14 and worm (here pulses are detected) => Z14 and worm => Z22 and minutes.
// So the relation of pulse detection to minutes is 1/14/22 and thus the turnaround time of the detecting
// worm is 3600 s / 14 / 22 ≈ 11,69 seconds (rounded).
var shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2();
// Let a lamp blink in one-second-intervals:
// Start a blinking seconds lamp calmly going on in one second and off again in the next:
var secondsLamp = new Netduino3.AnalogPwmOutput(DigitalPwmOutputPin.OnboardLedBlue)
.Scaled(quadraticCoefficient: 1f, factor: 0f, offset: 0f)
.Smoothed(valueChangePerSecond: 1f, rampIntervalMs: 20)
.MappedFromBoolean(falseValue: 0f, trueValue: 1f);
var secondsTimer = new System.Threading.Timer(
(state) => { secondsLamp.Value = !secondsLamp.Value; },
null, 0, 1000);
// Run the clock:
AbstractIO.Samples.Sample12ClockWithContinuouslyControlledMotor.Run(
motor: shield.GetDcMotor(3)
.Scaled(factor: -1f), // If pins are reversed in the model, negate speed.
minimumMotorSpeed: 0.08f,
initialSpeedGuess: 0.11f,
pulse: (new Netduino3.DigitalInput(DigitalInputPin.D2))
.MonitoredTo(teeTarget: new Netduino3.DigitalOutput(DigitalOutputPin.GoPort3Led)),
idealSecondsPerCycle: 3600f / (22f * 14f),
runAtFullSpeedSwitch: new DigitalInput(DigitalInputPin.OnboardButton));
#elif Sample13SimplifiedDevelopment
// The most primitive program ever: Let a motor run when a button is pressed.
shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2(address: 97);
//AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(
// button: new Netduino3.DigitalInput(DigitalInputPin.D2), // Monitor a digital input pin
// motor: shield.GetDcMotor(1) // Create a motor output
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f) // Map a boolean to a float
// );
// Let the motor turn on and off smoothly!
//AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(
// button: new Netduino3.DigitalInput(DigitalInputPin.D2),
// motor: shield.GetDcMotor(1)
// .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20) // Smooth the float value
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
// );
// Let a lamp monitor when the motor is on or off:
//AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(
// button: new Netduino3.DigitalInput(DigitalInputPin.D2),
// motor: shield.GetDcMotor(1)
// .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20)
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
// .Distributed( // Distribute output to another one
// shield.GetDcMotor(2) // A lamp output
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)) // Mapped from boolean
// );
// Let the lamp blink instead of only light up:
//AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(
// button: new Netduino3.DigitalInput(DigitalInputPin.D2),
// motor: shield.GetDcMotor(1)
// .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20)
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
// .Distributed(
// shield.GetDcMotor(2)
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
// .BlinkedWhenTrue(onDurationMs: 500, offDurationMs: 500)) // Blink as long as pressed
// );
// Let the lamp blink smoothly:
//AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(
// button: new Netduino3.DigitalInput(DigitalInputPin.D2),
// motor: shield.GetDcMotor(1)
// .Smoothed(valueChangePerSecond: 0.5f, rampIntervalMs: 20)
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
// .Distributed(
// shield.GetDcMotor(2)
// .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20) // Smooth the blinking lamp
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
// .BlinkedWhenTrue(onDurationMs: 500, offDurationMs: 500))
//);
// Replace the lamp with an analog photocell, auto-learning its value range:
//AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(
// button: new Netduino3.AnalogAdcInput(AnalogInputPin.A1) // An analog input
// .ScaleToRange(smallestValueMappedTo: 0f, largestValueMappedTo: 1f) // auto-learning its range
// .SchmittTrigger(threshold: 0.5f, hysteresis: 0.05f), // converted too boolean
// motor: shield.GetDcMotor(1)
// .Smoothed(valueChangePerSecond: 0.5f, rampIntervalMs: 20)
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
// .Distributed(
// shield.GetDcMotor(2)
// .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20)
// .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
// .BlinkedWhenTrue(onDurationMs: 500, offDurationMs: 500))
// );
// Invert the behavior of the light barrier:
AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(
button: new Netduino3.AnalogAdcInput(AnalogInputPin.A1)
.ScaleToRange(smallestValueMappedTo: 0f, largestValueMappedTo: 1f)
.SchmittTrigger(threshold: 0.5f, hysteresis: 0.05f)
.Invert(), // Invert the light barrier
motor: shield.GetDcMotor(1)
.Smoothed(valueChangePerSecond: 0.5f, rampIntervalMs: 20)
.MappedFromBoolean(falseValue: 0f, trueValue: 1f)
.Distributed(
shield.GetDcMotor(2)
.Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20)
.MappedFromBoolean(falseValue: 0f, trueValue: 1f)
.BlinkedWhenTrue(onDurationMs: 500, offDurationMs: 500))
);
// Run forever:
Thread.Sleep(Timeout.Infinite);
#else
//#error Please uncomment exactly one of the samples.
var startTime = DateTime.UtcNow;
int periods = 0;
var timer = new Timer(
(state) =>
{
periods++;
double s = DateTime.UtcNow.Subtract(startTime).TotalSeconds;
double p = periods;
Debug.WriteLine(p.ToString() + " | " + s.ToString() + " | " + ((p - s) / s).ToString());
},
null,
1000,
1000);
System.Threading.Thread.Sleep(Timeout.Infinite);
#endif
}
