public static void Main()
{
#if UseOnboardLedForDiagnostics
Led = new OutputPort(Pins.ONBOARD_LED, false);
#endif
#if AdafruitV1Shield
var latch = new OutputPort(Pins.GPIO_PIN_D12, false);
var enable = new OutputPort(Pins.GPIO_PIN_D7, true);
var data = new OutputPort(Pins.GPIO_PIN_D8, false);
var clock = new OutputPort(Pins.GPIO_PIN_D4, false);
var adafruitMotorShieldV1 = new AdafruitV2MotorShield(latch, enable, data, clock);
adafruitMotorShieldV1.InitializeShield();
StepperM1M2 = adafruitMotorShieldV1.GetHalfSteppingStepperMotor(1, 2);
StepperM3M4 = adafruitMotorShieldV1.GetMicrosteppingStepperMotor(64, 3, 4);
#elif AdafruitV2Shield
var adafruitMotorShieldV2 = new AdafruitV2MotorShield(); // use shield at default I2C address.
adafruitMotorShieldV2.InitializeShield();
StepperM1M2 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
StepperM3M4 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 3, 4);
#elif SparkfunArduMotoShield
var shield = new ArdumotoShield();
shield.InitializeShield();
var phase1 = shield.GetHBridge(Connector.A, TargetDevice.Netduino);
var phase2 = shield.GetHBridge(Connector.B, TargetDevice.Netduino);
StepperM1M2 = shield.GetMicrosteppingStepperMotor(MicrostepsPerStep, phase1, phase2);
#elif LedSimulatorShield
var StepperM1M2 = LedMotorSimulator.GetSimulatedStepperMotor(Pins.GPIO_PIN_D0,
PWMChannels.PWM_ONBOARD_LED,
Pins.GPIO_PIN_D1,
PWMChannels.PWM_PIN_D6);
var StepperM3M4 = LedMotorSimulator.GetSimulatedStepperMotor(Pins.GPIO_PIN_D2,
PWMChannels.PWM_PIN_D9,
Pins.GPIO_PIN_D3,
PWMChannels.PWM_PIN_D10);
#else
throw new ApplicationException("Uncomment one of the shield #define statements");
#endif
var axis1 = new AcceleratingStepperMotor(LimitOfTravel, StepperM1M2)
{
MaximumSpeed = StepperMotor.MaximumPossibleSpeed,
RampTime = 2.0
};
var axis2 = new AcceleratingStepperMotor(LimitOfTravel, StepperM3M4)
{
MaximumSpeed = StepperMotor.MaximumPossibleSpeed,
RampTime = 2.0
};
var sequencer = new DualAxisSequencer(axis1, axis2);
var randomGenerator = new Random();
while (true)
{
var target = randomGenerator.Next(LimitOfTravel);
sequencer.RunInSequence(target, target);
sequencer.BlockUntilSequenceComplete();
Thread.Sleep(5000); // A pause here just makes it easier to observe what is going on.
}
}
public static void Main()
{
// shield-specific setup. Uncomment one of the shield #define lines above.
#if UseOnboardLedForDiagnostics
Led = new OutputPort(Pins.ONBOARD_LED, false);
#endif
#if AdafruitV1Shield
var latch = new OutputPort(Pins.GPIO_PIN_D12, false);
var enable = new OutputPort(Pins.GPIO_PIN_D7, true);
var data = new OutputPort(Pins.GPIO_PIN_D8, false);
var clock = new OutputPort(Pins.GPIO_PIN_D4, false);
var adafruitMotorShieldV1 = new AdafruitV1MotorShield(latch, enable, data, clock);
adafruitMotorShieldV1.InitializeShield();
StepperM1M2 = adafruitMotorShieldV1.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
//StepperM3M4 = adafruitMotorShieldV1.GetMicrosteppingStepperMotor(MicrostepsPerStep, 3, 4);
#elif AdafruitV2Shield
var adafruitMotorShieldV2 = new SparkfunArdumoto(); // use shield at default I2C address.
adafruitMotorShieldV2.InitializeShield();
StepperM1M2 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
StepperM3M4 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 3, 4);
#elif SparkfunArduMotoShield
var shield = new SparkfunArdumoto();
shield.InitializeShield();
var phase1 = shield.GetHBridge(Connector.A, TargetDevice.Netduino);
var phase2 = shield.GetHBridge(Connector.B, TargetDevice.Netduino);
StepperM1M2 = shield.GetMicrosteppingStepperMotor(MicrostepsPerStep, phase1, phase2);
#elif LedSimulatorShield
var StepperM1M2 = LedMotorSimulator.GetSimulatedStepperMotor(Pins.GPIO_PIN_D0,
PWMChannels.PWM_ONBOARD_LED,
Pins.GPIO_PIN_D1,
PWMChannels.PWM_PIN_D6);
var StepperM3M4 = LedMotorSimulator.GetSimulatedStepperMotor(Pins.GPIO_PIN_D2,
PWMChannels.PWM_PIN_D9,
Pins.GPIO_PIN_D3,
PWMChannels.PWM_PIN_D10);
#else
throw new ApplicationException("Uncomment one of the shield #define statements");
#endif
// Create the stepper motor axes and link them to the Adafruit driver.
var axis1 = new AcceleratingStepperMotor(LimitOfTravel, StepperM1M2)
{
MaximumSpeed = MaxSpeed,
RampTime = RampTime
};
// Now we subscribe to the MotorStopped event on each axis. When the event fires,
// we start the axis going again with a new random target position.
axis1.MotorStopped += HandleAxisStoppedEvent;
// We need to call our event handler once manually to get things going.
// After that it is fully automatic.
HandleAxisStoppedEvent(axis1);
// Repeat for the second axis, if it's supported.
#if UseSecondAxis
//var axis2 = new StepperMotor(LimitOfTravel, StepperM3M4)
// {
// MaximumSpeed = MaxSpeed,
// RampTime = RampTime
// };
//axis2.MotorStopped += HandleAxisStoppedEvent;
//HandleAxisStoppedEvent(axis2);
#endif
// Finally, we sleep forever as there is nothing else to do in the main thread.
// The motors continue to work in the background all by themselves.
Thread.Sleep(Timeout.Infinite);
}
