private void ServoTest()
{
if (pwmDriver.IsInitialized)
{
const byte channel = 0;
const int msSleepTime = 1000;
const double minPulseDuration = 0.7;
const double maxPulseDuration = 2.3;
const double step = 0.1;
for (var pulseDuration = maxPulseDuration; pulseDuration >= minPulseDuration - step; pulseDuration -= step)
{
var registerValue = PcaPwmDriver.PulseDurationToRegisterValue(pulseDuration, hzFrequency);
pwmDriver.SetChannelValue(channel, registerValue);
Task.Delay(msSleepTime).Wait();
}
// PWM 채널 비활성화
pwmDriver.SetChannelValue(pwmChannel, PcaPwmDriver.FullyOff);
}
}
private async Task InitializePwmDriver()
{
pwmDriver = new PcaPwmDriver();
await pwmDriver.Init();
if (pwmDriver.IsInitialized)
{
// Enable oscillator
pwmDriver.SetSleepMode(SleepMode.Normal);
}
}
private async Task InitializePwmDriver()
{
pwmDriver = new PcaPwmDriver();
await pwmDriver.Init(pwmAddress);
if (pwmDriver.IsInitialized)
{
// 오실레이터 활성화
pwmDriver.SetSleepMode(SleepMode.Normal);
// 주파수 설정
pwmDriver.SetFrequency(hzFrequency);
}
}
public StepperMotor(PcaPwmDriver pcaPwmDriver, uint steps = 200)
{
Check.IsNull(pcaPwmDriver);
this.pcaPwmDriver = pcaPwmDriver;
Steps = steps * MicroStepCount;
SetSpeed(Rpm);
fullStepControlPhases = ControlPhaseHelper.GetFullStepSequence();
// 마이크로 스테핑 제어 단계 및 선형 램프
microStepControlPhases = ControlPhaseHelper.GetMicroStepSequence();
microStepCurve = MicrosteppingHelper.GetLinearRamp(MicroStepCount);
}
public DcMotor(PcaPwmDriver pcaPwmDriver)
{
Check.IsNull(pcaPwmDriver);
this.pcaPwmDriver = pcaPwmDriver;
}
public void SetPulseParameters(int pin, double dutyCycle, bool invertPolarity)
{
var pcaRegisterValue = PcaPwmDriver.DutyCycleToRegisterValue(dutyCycle, invertPolarity);
pcaPwmDriver.SetChannelValue(Convert.ToByte(pin), pcaRegisterValue);
}
