public MainPage()
{
this.InitializeComponent();
// Driver for PCA9685
pwmDriver = new PCA9685();
pwmDriver.SetDesiredFrequency(60);
// Driver for L298N
dcMotorDriver = new L298N(new L298NMotors
{
ENPin = PCA9685_DC1_Pin,
INAPin = DCInputAPin,
INBPin = DCInputBPin
}, new L298NMotors
{
ENPin = PCA9685_DC2_Pin,
INAPin = DCInputCPin,
INBPin = DCInputDPin
}, pwmDriver);
// Driver for ULN2003
stepMotorDriver = new ULN2003(Step_IN1, Step_IN2, Step_IN3, Step_IN4);
stopwatch = new Stopwatch();
this.Unloaded += MainPage_Unloaded;
// Buggy control
StepsProgressGuage.HighFontSize = 30;
}
public void Setup()
{
//Enable 5V Control
GpioController gpioController = A.Dummy <GpioController>();
FakeItEasy.Fake.GetFakeManager(gpioController);
var generalPurposeInputOutputController = A.Fake <GeneralPurposeInputOutputController>(options => new GeneralPurposeInputOutputController(gpioController));
List <IController> motorControllerInitObjects = new List <IController>()
{
generalPurposeInputOutputController
};
MotorController = A.Fake <L298N>(options => options.WithArgumentsForConstructor(() => new L298N(generalPurposeInputOutputController)));
MotorController.ChannelAlphaId = new ComponentChannel("LeftChannel");
MotorController.ChannelBetaId = new ComponentChannel("RightChannel");
var channelAMotor1 = GenerateMotor(MotorController.ChannelAlphaId, "FrontLeft", PositionLocation.FrontLeft);
var channelBMotor1 = GenerateMotor(MotorController.ChannelBetaId, "FrontRight", PositionLocation.FrontRight);
A.CallTo(() => gpioController.GetPinMode(channelAMotor1.DrivePin.Value.PinNumber)).Returns(PinMode.Output);
MotorController.Motors.Add(channelAMotor1);
MotorController.Motors.Add(channelBMotor1);
}
