/// <summary>
/// When the motor state is different than spinning clockwise then it first stops motor and then starts in clockwise
/// direction.
/// </summary>
public void StartClockWise()
{
if (motorState != MotorState.SpinningClockWise)
{
Stop();
gpioController.SetPin(pinMapping[MotorPinNames.Input1].PinNumber, PinValue.High);
gpioController.SetPin(pinMapping[MotorPinNames.Input2].PinNumber, PinValue.Low);
gpioController.SetPin(pinMapping[MotorPinNames.Pwm].PinNumber, PinValue.High);
// gpioController.SetPin(pinMapping[MotorPinNames.StandBy].PinNumber, PinValue.High);
logger.LogInformation($"Starting motor in clockwise direction on {DateTime.Now.ToString("hh:mm:ss.fff")}.");
}
}
public async Task <double> MeasureDistance(CancellationToken ct)
{
var echoDuration = new Stopwatch();
var waitingForEcho = new Stopwatch();
// trigger
gpio.SetPin(pinMapping[DistanceSensorPinNames.Trigger].PinNumber, PinValue.High);
await Task.Delay(TimeSpan.FromTicks(100), ct);
gpio.SetPin(pinMapping[DistanceSensorPinNames.Trigger].PinNumber, PinValue.Low);
// Wait for High state on echo pin
waitingForEcho.Reset();
waitingForEcho.Start();
while (gpio.ReadPin(pinMapping[DistanceSensorPinNames.Echo].PinNumber) == PinValue.Low && waitingForEcho.Elapsed.TotalMilliseconds <= 100)
{
}
waitingForEcho.Stop();
logger.LogDebug($"Waiting for High value on Echo pin: {waitingForEcho.Elapsed.Milliseconds}");
// Measure duration of high state on echo pin
echoDuration.Reset();
echoDuration.Start();
while (gpio.ReadPin(pinMapping[DistanceSensorPinNames.Echo].PinNumber) == PinValue.High)
{
}
echoDuration.Stop();
var duration = echoDuration.Elapsed.Ticks / 10;
logger.LogDebug($"High value duration: {duration} microseconds");
var distance = (duration * 34) / 1000 / 2;
logger.LogDebug($"Measured distance: {distance}");
await MeasurementsChannel.Writer.WriteAsync(distance > 200? 200 : distance, ct);
return(distance > 200 ? 200 : distance);
}
