first commit

2025-03-21 16:04:17 +01:00 · 2025-03-21 16:04:17 +01:00 · a5a0434432
commit a5a0434432
1126 changed files with 439481 additions and 0 deletions
--- a/Software/CSharp/Samples/MiniMotorDriver/StartupTask.cs
+++ b/Software/CSharp/Samples/MiniMotorDriver/StartupTask.cs
@ -0,0 +1,95 @@
+// Sample of Grove Mini Motor Drive, make two channel output a stable pwm
+
+// Grove Pi + Grove Mini Motor Driver
+// https://www.seeedstudio.com/Grove%C2%A0%C2%A0I2C%C2%A0Mini%C2%A0Motor%C2%A0Driver-p-2508.html?cPath=91_92
+
+/*
+The MIT License(MIT)
+
+GrovePi for the Raspberry Pi: an open source platform for connecting Grove Sensors to the Raspberry Pi.
+Copyright (C) 2015  Dexter Industries
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
+using System;
+using Windows.ApplicationModel.Background;
+
+using Windows.System.Threading;
+using GrovePi;
+using GrovePi.I2CDevices;
+using System.Diagnostics;
+
+// The Background Application template is documented at http://go.microsoft.com/fwlink/?LinkID=533884&clcid=0x409
+
+namespace MiniMotorDriver
+{
+    public sealed class StartupTask : IBackgroundTask
+    {
+        // MiniMotorDriver.drive(Speed), limited Speed at -63 ~ 63, 
+        // use positive number to drive ahead and negative number to drive back. 
+        // Input zero to stop 
+        BackgroundTaskDeferral deferral;
+        IMiniMotorDriver motor;
+        ThreadPoolTimer timer;
+        volatile int speed = 0;
+        volatile bool direction = false;
+
+
+        public void Run(IBackgroundTaskInstance taskInstance)
+        {
+            deferral = taskInstance.GetDeferral();
+
+            motor = DeviceFactory.Build.MiniMotorDriver(0xD0, 0xC0);
+            timer = ThreadPoolTimer.CreatePeriodicTimer(new TimerElapsedHandler(Timer_tick), TimeSpan.FromSeconds(.2));
+
+        }
+
+        private void Timer_tick(ThreadPoolTimer timer)
+        {
+            try
+            {
+                if (direction)
+                {
+                    speed += 1;
+                }
+                else
+                {
+                    speed -= 1;
+                }
+
+                if (speed > 40)
+                {
+                    direction = false;
+                }
+                if (speed < -40)
+                {
+                    direction = true;
+                }
+                motor.drive1(speed);
+                motor.drive2(-speed);
+            }
+            catch (Exception ex)
+            {
+                Debug.WriteLine(ex);
+            }
+        }
+    }
+}