/// <summary>
/// Constructor for a single servo output.
/// </summary>
/// <param name="pwm">PWM output instance.</param>
/// <param name="freq">PWM pulse frequency.</param>
/// <param name="position">Initial servo position.</param>
public Output(IO.Interfaces.PWM.Output pwm, int freq = 50,
double position = IO.Interfaces.Servo.Positions.Neutral)
{
this.pwm = pwm;
this.period = 1000000000 / freq;
this.position = position;
}
/// <summary>
/// Constructor for a single GPIO pin.
/// </summary>
/// <param name="outp">PWM output instance.</param>
/// <param name="state">Initial GPIO output state.</param>
/// <param name="dutycycle">Initial PWM output duty cycle.
/// Allowed values are 0.0 to 100.0 percent.</param>
public Pin(IO.Interfaces.PWM.Output outp, bool state = false,
double dutycycle = IO.Interfaces.PWM.DutyCycles.Maximum)
{
this.myoutput = outp;
this.myduty = dutycycle;
this.state = state;
}
// Type 2 motor drivers, using two PWM outputs: One for CW
// rotation and one for CCW rotation
/// <summary>
/// Constructor for a single motor, using two PWM outputs
/// for clockwise and counterclockwise rotation control.
/// </summary>
/// <param name="clockwise">PWM output instance (for clockwise
/// rotation control).</param>
/// <param name="counterclockwise">PWM output instance (for
/// counterclockwise rotation control).</param>
/// <param name="velocity">Initial normalized motor velocity.
/// Allowed values are -1.0 (full speed reverse) to +1.0
/// (full speed forward.</param>
public Output(IO.Interfaces.PWM.Output clockwise,
IO.Interfaces.PWM.Output counterclockwise,
double velocity = IO.Interfaces.Motor.Velocities.Stop)
{
dirpin = null;
pwm0 = clockwise;
pwm1 = counterclockwise;
this.velocity = velocity;
}
private IO.Interfaces.PWM.Output pwm1; // CCW
// Type 1 motor drivers, using one GPIO output for direction,
// and one PWM output for speed
/// <summary>
/// Constructor for a single motor, using one GPIO pin for
/// direction control, and one PWM output for speed control.
/// </summary>
/// <param name="direction">GPIO pin instance (for direction
/// control).</param>
/// <param name="speed">PWM output instance (for speed
/// control).</param>
/// <param name="velocity">Initial normalized motor velocity.
/// Allowed values are -1.0 (full speed reverse) to +1.0
/// (full speed forward.</param>
public Output(IO.Interfaces.GPIO.Pin direction,
IO.Interfaces.PWM.Output speed,
double velocity = IO.Interfaces.Motor.Velocities.Stop)
{
dirpin = direction;
pwm0 = speed;
pwm1 = null;
this.velocity = velocity;
}
/// <summary>
/// Constructor for a single servo output.
/// </summary>
/// <param name="pwm">PWM output instance.</param>
/// <param name="freq">PWM pulse frequency.</param>
/// <param name="position">Initial servo position.</param>
public Output(IO.Interfaces.PWM.Output pwm, int freq = 50,
double position = IO.Interfaces.Servo.Positions.Neutral)
{
if ((position < IO.Interfaces.Servo.Positions.Minimum) ||
(position > IO.Interfaces.Servo.Positions.Maximum))
{
throw new System.Exception("Invalid servo position");
}
this.pwm = pwm;
this.period = 1000000000 / freq;
this.position = position;
}
/// <summary>
/// Constructor for a single 7seg click.
/// </summary>
/// <param name="socket">mikroBUS socket number.</param>
/// <param name="radix">Numerical base or radix. Allowed values are
/// <c>Decimal</c> and <c>Hexadecimal</c>.</param>
/// <param name="blanking">Zero blanking. Allowed values are
/// <c>None</c>, <c>Leading</c>, and <c>Full</c>.</param>
/// <param name="pwmfreq">PWM frequency. Set to zero to use GPIO
/// instead of PWM.</param>
/// <param name="remdev">Remote I/O server device object.</param>
public Board(int socket, Base radix = Base.Decimal,
ZeroBlanking blanking = ZeroBlanking.None, int pwmfreq = 100,
IO.Remote.Device remdev = null)
{
// Create Remote I/O server device object, if one wasn't supplied
if (remdev == null)
{
remdev = new IO.Remote.Device();
}
// Create a mikroBUS socket object
IO.Remote.mikroBUS.Socket S =
new IO.Remote.mikroBUS.Socket(socket);
// Configure hardware reset GPIO pin
myRSTgpio = remdev.GPIO_Create(S.RST,
IO.Interfaces.GPIO.Direction.Output, true);
// Issue hardware reset
Reset();
// Configure PWM pin -- Prefer PWM over GPIO, if possible, and
// assume full brightness until otherwise changed.
myPWMgpio = null;
myPWMout = null;
if ((pwmfreq > 0) && (S.PWMOut != IO.Remote.Device.Unavailable))
{
myPWMout = remdev.PWM_Create(S.PWMOut, pwmfreq, 100.0);
}
else if (S.PWM != IO.Remote.Device.Unavailable)
{
myPWMgpio = remdev.GPIO_Create(S.PWM,
IO.Interfaces.GPIO.Direction.Output, true);
}
// Configure 74HC595 shift register chain
mychain = new SN74HC595.Device(remdev.SPI_Create(S.SPIDev,
IO.Devices.SN74HC595.Device.SPI_Mode, 8,
IO.Devices.SN74HC595.Device.SPI_MaxFreq), 2);
myradix = radix;
myblanking = blanking;
Clear();
}
// Type 2 motor drivers, using two PWM outputs: One for CW
// rotation and one for CCW rotation
/// <summary>
/// Constructor for a single motor, using two PWM outputs
/// for clockwise and counterclockwise rotation control.
/// </summary>
/// <param name="clockwise">PWM output instance (for clockwise
/// rotation control).</param>
/// <param name="counterclockwise">PWM output instance (for
/// counterclockwise rotation control).</param>
/// <param name="velocity">Initial motor velocity.</param>
public Output(IO.Interfaces.PWM.Output clockwise,
IO.Interfaces.PWM.Output counterclockwise,
double velocity = IO.Interfaces.Motor.Velocities.Stop)
{
if ((velocity < IO.Interfaces.Motor.Velocities.Minimum) ||
(velocity > IO.Interfaces.Motor.Velocities.Maximum))
{
throw new System.Exception("Invalid motor velocity");
}
dirpin = null;
pwm0 = clockwise;
pwm1 = counterclockwise;
this.velocity = velocity;
}
private IO.Interfaces.PWM.Output pwm1; // CCW
// Type 1 motor drivers, using one GPIO output for direction,
// and one PWM output for speed
/// <summary>
/// Constructor for a single motor, using one GPIO pin for
/// direction control, and one PWM output for speed control.
/// </summary>
/// <param name="direction">GPIO pin instance (for direction
/// control).</param>
/// <param name="speed">PWM output instance (for speed
/// control).</param>
/// <param name="velocity">Initial motor velocity.</param>
public Output(IO.Interfaces.GPIO.Pin direction,
IO.Interfaces.PWM.Output speed,
double velocity = IO.Interfaces.Motor.Velocities.Stop)
{
if ((velocity < IO.Interfaces.Motor.Velocities.Minimum) ||
(velocity > IO.Interfaces.Motor.Velocities.Maximum))
{
throw new System.Exception("Invalid motor velocity");
}
dirpin = direction;
pwm0 = speed;
pwm1 = null;
this.velocity = velocity;
}
/// <summary>
/// Constructor for a single 7seg click.
/// </summary>
/// <param name="socket">mikroBUS socket number.</param>
/// <param name="radix">Numerical base or radix. Allowed values are
/// <c>Decimal</c> and <c>Hexadecimal</c>.</param>
/// <param name="blanking">Zero blanking. Allowed values are
/// <c>None</c>, <c>Leading</c>, and <c>Full</c>.</param>
/// <param name="pwmfreq">PWM frequency. Set to zero to use GPIO
/// instead of PWM.</param>
public Board(int socket, Base radix = Base.Decimal,
ZeroBlanking blanking = ZeroBlanking.None,
int pwmfreq = 100)
{
IO.Objects.libsimpleio.mikroBUS.Socket S =
new IO.Objects.libsimpleio.mikroBUS.Socket(socket);
// Configure RST pin
myRSTgpio = new IO.Objects.libsimpleio.GPIO.Pin(S.RST,
IO.Interfaces.GPIO.Direction.Output, true);
// Configure PWM pin -- Prefer PWM over GPIO, if possible, and
// assume full brightness until otherwise changed.
myPWMgpio = null;
myPWMout = null;
if ((pwmfreq > 0) && (S.PWMOut.available))
{
myPWMout = new IO.Objects.libsimpleio.PWM.Output(S.PWMOut,
pwmfreq, 100.0);
}
else if (S.PWM.available)
{
myPWMgpio = new IO.Objects.libsimpleio.GPIO.Pin(S.PWM,
IO.Interfaces.GPIO.Direction.Output, true);
}
// Configure 74HC595 shift register chain
mychain = new SN74HC595.Device(new IO.Objects.libsimpleio.SPI.Device(S.SPIDev,
IO.Devices.SN74HC595.Device.SPI_Mode, 8,
IO.Devices.SN74HC595.Device.SPI_MaxFreq,
S.CS.available ? new IO.Objects.libsimpleio.GPIO.Pin(S.CS,
IO.Interfaces.GPIO.Direction.Output, true) : null), 2);
mybase = radix;
myblanking = blanking;
Clear();
}
static void Main(string[] args)
{
Console.WriteLine("\nmikroBUS PWM Output Test\n");
// Get mikroBUS socket number
Console.Write("Socket number? ");
var num = int.Parse(Console.ReadLine());
Console.Write("PWM pulse frequency? ");
var freq = int.Parse(Console.ReadLine());
// Create objects
var socket = new IO.Remote.mikroBUS.Socket(num);
var remdev = new IO.Remote.Device();
IO.Interfaces.PWM.Output outp = remdev.PWM_Create(socket.PWMOut, freq);
// Sweep PWM output pulse width
for (;;)
{
for (double d = 0; d <= 100; d++)
{
outp.dutycycle = d;
System.Threading.Thread.Sleep(20);
}
for (double d = 100; d >= 0; d--)
{
outp.dutycycle = d;
System.Threading.Thread.Sleep(20);
}
}
}
