Mshield MyMotors = new Mshield(Mshield.Drivers.Both);
PWM servo = new PWM(MyMotors.Servo1);
bool ledState = false;
OutputPort led = new OutputPort(Pins.ONBOARD_LED, ledState);
while (true)
{
ledState = !ledState;
led.Write(ledState);
// We have one motor connected on port M4 (Warning ! on some shields, M3 and M4 indications are reversed !)
// Increase its speed to its maximum. Direction change at each loop
for (int i = 0; i <= 255; i++, Thread.Sleep(20)) MyMotors.MotorControl(Mshield.Motors.M4, (byte)i, ledState);
// Then decrease it to zero
for (int i = 255; i >= 0; i--, Thread.Sleep(20)) MyMotors.MotorControl(Mshield.Motors.M4, (byte)i, ledState);
Thread.Sleep(1000);
// We have one stepper connected on driver1 (M1 + M2 ports)
// Have it run 5s in "Hi-Torque" (High power, high speed, high power usage...)
MyMotors.StepperMove(Mshield.Steppers.S1, Mshield.BipolarStepping.HiTorque, 0, true, 0, 5000, false);
Thread.Sleep(1000);
// Then 5s in the other direction
MyMotors.StepperMove(Mshield.Steppers.S1, Mshield.BipolarStepping.HiTorque, 0, false, 0, 5000, false);
Thread.Sleep(1000);
}
To be clear the only changes I made to this driver were what was strictly necessary to make it work on the Netduino. I have maintained all of the original authors comments and code.
Attached Files
-
MotorShield.cs 10.23KB
287 downloads
