private async Task Update()
{
var m1speed = (byte)Math.Round(Math.Abs(m1_speed) * 255);
var m2speed = (byte)Math.Round(Math.Abs(m2_speed) * 255);
await dev.WriteBufferDataAsync((byte)Registers.MotorSpeedSet, new[] { m1speed, m2speed }).ConfigureAwait(false);
await Task.Delay(10).ConfigureAwait(false);
if (m1_speed >= 0 && m2_speed >= 0)
{
await dev.WriteBufferDataAsync((byte)Registers.DirectionSet,
new byte[] { (byte)MotorSetDirection.BothClockwise, 0x01 })
.ConfigureAwait(false);
}
else if (m1_speed >= 0 && m2_speed < 0)
{
await dev.WriteBufferDataAsync((byte)Registers.DirectionSet,
new byte[] { (byte)MotorSetDirection.Motor1ClockwiseMotor2CounterClockwise, 0x01 })
.ConfigureAwait(false);
}
else if (m1_speed < 0 && m2_speed < 0)
{
await dev.WriteBufferDataAsync((byte)Registers.DirectionSet,
new byte[] { (byte)MotorSetDirection.BothCounterClockwise, 0x01 })
.ConfigureAwait(false);
}
else if (m1_speed < 0 && m2_speed >= 0)
{
await dev.WriteBufferDataAsync((byte)Registers.DirectionSet,
new byte[] { (byte)MotorSetDirection.Motor1CounterClockwiseMotor2Clockwise, 0x01 })
.ConfigureAwait(false);
}
}
/// <summary>
/// Flush the data to the PCA9685
/// </summary>
/// <param name="force">Whether to force the update</param>
/// <returns>An awaitable task</returns>
public async Task FlushAsync(bool force = false)
{
foreach (var pin in Pins)
{
setPinValue(pin);
}
// send all the registers
dev.WriteBufferDataAsync((byte)Registers.LedOnLowBase, pinRegisters).Wait();
}
private Task SetPosition(short position)
{
var data = new byte[4];
data[0] = 0xff;
data[1] = 0xff;
data[2] = (byte)(position >> 8);
data[3] = (byte)(position & 0xff);
return(dev.WriteBufferDataAsync((byte)Command.SetPosition, data));
}
public Task WriteCommandAsync(uint[] command)
{
var bytes = new byte[command.Length];
for (var i = 0; i < command.Length; i++)
{
bytes[i] = (byte)command[i];
}
return(dev.WriteBufferDataAsync(0x80, bytes));
}
/// <summary>
/// Construct a new ADS1115
/// </summary>
/// <param name="i2c">The i2C port this ADC is attached to</param>
/// <param name="channelMode">Whether this ADC is single-ended or differential</param>
/// <param name="addr">The address pin of this module</param>
/// <param name="refVoltage">The supply (reference) voltage of this module</param>
/// <param name="speed">The speed to use when communicating with this module, in kHz</param>
public Ads1115(I2C i2c, ChannelMode channelMode = ChannelMode.SingleEnded, bool addr = false,
double refVoltage = 3.3, int speed = 400)
{
dev = new SMBusDevice((byte)(0x48 | (addr ? 1 : 0)), i2c, speed);
Mode = channelMode;
dev.WriteBufferDataAsync(0x01, new byte[] { 0x01, 0x83 }).Wait();
for (var i = 0; i < (channelMode == ChannelMode.SingleEnded ? 4 : 2); i++)
{
Pins.Add(new AdsPin(this));
}
}
/// <summary>
/// Flush the data out to the LED driver
/// </summary>
/// <param name="force">Whether the data should be sent even if the data does not appear to have changed</param>
/// <returns>An awaitable task</returns>
public override Task FlushAsync(bool force = false)
{
var controls = new byte[36];
for (var i = 0; i < states.Length; i++)
{
controls[i] = (byte)((((int)Currents[i]) << 1) | (states[i] ? 1 : 0));
}
// send the 36 PWM registers, followed by the PWM update register (0x25), followed by the 36 LED control registers, followed by the global control register
var dataToWrite = values.Concat(new byte[] { 0x00 }).Concat(controls).Concat(new byte[1] {
0x00
}).ToArray();
return(dev.WriteBufferDataAsync((byte)Registers.PwmBase, dataToWrite));
}
public Pca9632(I2C i2c)
{
dev = new SMBusDevice(0x62, i2c);
mode1.Ai = RegisterAutoIncrement.AutoIncrementAllRegisters;
mode1.Sleep = false;
dev.WriteByteDataAsync((byte)Registers.Mode1, mode1.ToByte()).Wait();
// clear PWM values
dev.WriteBufferDataAsync((byte)Registers.Pwm0 | 0x80, new byte[4] {
0x00, 0x00, 0x00, 0x00
}).Wait();
ledOut.Ldr0 = LedOutputState.LedPwm;
ledOut.Ldr1 = LedOutputState.LedPwm;
ledOut.Ldr2 = LedOutputState.LedPwm;
ledOut.Ldr3 = LedOutputState.LedPwm;
dev.WriteByteDataAsync((byte)Registers.LedOut, ledOut.ToByte()).Wait();
Pins.Add(new Pin(this, 0));
Pins.Add(new Pin(this, 1));
Pins.Add(new Pin(this, 2));
Pins.Add(new Pin(this, 3));
}
/// <summary>
/// Flush the data out to the LED driver
/// </summary>
/// <param name="force">Whether the data should be sent even if the data does not appear to have changed</param>
/// <returns>An awaitable task</returns>
public override Task FlushAsync(bool force = false)
{
var states = new byte[3];
for (var i = 0; i < currentStates.Length; i++)
{
var bit = i % 6;
var theByte = i / 6;
if (currentStates[i])
{
states[theByte] |= (byte)(1 << bit);
}
else
{
states[theByte] &= (byte)~(1 << bit);
}
}
var dataToWrite = currentValues.Concat(states).Concat(new byte[1] {
0x00
}).ToArray();
return(dev.WriteBufferDataAsync((byte)Registers.PwmBase, dataToWrite));
}
/// <summary>
/// Flush the LED states to the HT16K33 driver
/// </summary>
/// <param name="force">Whether to force an update, even if no data appears to have changed</param>
/// <returns></returns>
public override Task FlushAsync(bool force = false)
{
return(dev.WriteBufferDataAsync(0x00, data.GetBytes()));
}
