95 lines
3.1 KiB
C#
95 lines
3.1 KiB
C#
// 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);
|
|
}
|
|
}
|
|
}
|
|
}
|