void Initializer()
{
WiringPiLib = new WirinPiWrapper();
WiringPiLib.WiringPiSetupGpio();
WiringPiLib.PinMode(SHUTDOWNPIN, PinType.INPUT);
WiringPiLib.PullUpDnControl(SHUTDOWNPIN, PullUpType.PUD_UP);
WiringPiLib.PinMode(ACTIVPIN, PinType.INPUT);
WiringPiLib.PullUpDnControl(ACTIVPIN, PullUpType.PUD_DOWN);
for (int i = 0; i < Sensors.Length; i++)
{
WiringPiLib.PinMode(Sensors [i], PinType.INPUT);
WiringPiLib.PullUpDnControl(Sensors[i], PullUpType.PUD_DOWN);
}
SleepBetweenActions = Int32.Parse(ConfigurationManager.AppSettings ["Hund_SleepBetweenActions"]);
int pwmRange = Int32.Parse(ConfigurationManager.AppSettings ["Hund_PWM_Range"]);
int servohertz = Int32.Parse(ConfigurationManager.AppSettings ["HundServohertz"]);
int servoMaximalAusschlagGrad = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMaximalAusschlagGrad"]);
int hundServoMilliSecLeft = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMicroSecLeft"]);
int hundServoMilliSecRight = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMicroSecRight"]);
InvertSensorInput = bool.Parse(ConfigurationManager.AppSettings ["HundInvertSensorInput"]);
NonPlausibleWaitTimerMilliSec = Int32.Parse(ConfigurationManager.AppSettings ["HundNonPlausibleWaitTimerMilliSec"]);
LenkDeltaInGrad = float.Parse(ConfigurationManager.AppSettings ["HundLenkDeltainGrad"]);
LenkServo = new Servo(PWMServoPin, servohertz, pwmRange, servoMaximalAusschlagGrad, WiringPiLib, hundServoMilliSecLeft, hundServoMilliSecRight);
}
public FolienTastatur()
{
wiringPiLib.WiringPiSetupGpio();
for (int i = 0; i < Rows.Length; i++)
{
wiringPiLib.PinMode(Rows [i], PinType.OUTPUT);
wiringPiLib.DigitalWrite(Rows [i], 0);
wiringPiLib.PinMode(Cols [i], PinType.INPUT);
wiringPiLib.PullUpDnControl(Cols[i], PullUpType.PUD_DOWN);
}
}
private static void Kompass()
{
int TasterPin = 26;
WirinPiWrapper wiringPiLib = new WirinPiWrapper();
wiringPiLib.WiringPiSetupGpio();
wiringPiLib.PinMode(TasterPin, PinType.INPUT); //37 liest am Taster, um die Nadel manuell zu bewegen
ISchrittmotor schrittMotor = new Schrittmotor(wiringPiLib, 19, 13, 6, 5);
schrittMotor.Run(1);
KompassHMC6343 kompass = new KompassHMC6343(wiringPiLib);
KompassDisplay display = new KompassDisplay(schrittMotor);
while (true)
{
while (wiringPiLib.DigitalRead(TasterPin) == 1)
{
Console.WriteLine("Calibrate");
display.Calibrate();
}
double heading = kompass.ReadHeading();
Console.WriteLine("Heading: " + heading);
//display.ShowClassic (heading);
display.ShowNavigation(heading);
}
}
public Servo(int pwmPin, int hertz, int pwmRange, int maximalAusschlagGrad, WirinPiWrapper wiringPiLib, int microSecLeft, int microSecRight)
{
WiringPiLib = wiringPiLib;
PwmRange = (uint)pwmRange;
//pwmFrequency in Hz = 19.2e6 Hz / pwmClock / pwmRange.
int PwmClock = 19200000 / pwmRange / hertz;
WiringPiLib.PinMode(pwmPin, PinType.PWM_OUTPUT);
WiringPiLib.PwmSetClock(PwmClock);
WiringPiLib.PwmSetMode(PwmType.PWM_MODE_MS); //Servos likes mark / Space approach
WiringPiLib.PwmSetRange(PwmRange);
PwmPin = pwmPin;
MaximalAusschlagGrad = maximalAusschlagGrad;
MicroSecLeft = microSecLeft;
MicroSecRange = microSecRight - MicroSecLeft;
PeriodeMicroSecs = 1000000 / hertz;
Position = 1;
SetPosition(0);
}
public Schrittmotor(WirinPiWrapper wiringPiLib, int in1, int in2, int in3, int in4)
{
WiringPiLib = wiringPiLib;
In1 = in1;
In2 = in2;
In3 = in3;
In4 = in4;
wiringPiLib.PinMode(in1, PinType.OUTPUT);
wiringPiLib.PinMode(in2, PinType.OUTPUT);
wiringPiLib.PinMode(in3, PinType.OUTPUT);
wiringPiLib.PinMode(in4, PinType.OUTPUT);
Ausschalten();
LoadMotorstateOnRestart();
}