Anyone have any suggestions on this code to run on the new 4.3 version plus2
using System;
using System.Net;
using System.Net.Sockets;
using System.Threading;
using System.IO.Ports;
using Microsoft.SPOT;
using Microsoft.SPOT.Hardware;
using SecretLabs.NETMF.Hardware;
using SecretLabs.NETMF.Hardware.NetduinoPlus;
namespace NetduinoRobot
{
public class Program
{
public static void Main()
{
uint watchdogTimer = 200;
PWM leftDrive = new PWM(Pins.GPIO_PIN_D5);
PWM rightDrive = new PWM(Pins.GPIO_PIN_D6); ??
Socket receiveSocket = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
receiveSocket.Bind(new IPEndPoint(IPAddress.Any, 4444));
byte[] rxData = new byte[10]; // Incoming data buffer
while (true) /* Main program loop */
{
/* Try to receive new data - spend 100uS waiting */
if (receiveSocket.Poll(100, SelectMode.SelectRead))
{
int rxCount = receiveSocket.Receive(rxData);
watchdogTimer = 0;
}
if (watchdogTimer < 200) // Only enable the robot if data was received recently
{
// 900 (full rev) to 2100 (full fwd), 1500 is neutral
leftDrive.SetPulse(20000, map((uint)rxData[0], 0, 255, 900, 2100));
rightDrive.SetPulse(20000, map((uint)rxData[2], 0, 255, 900, 2100)); ???
watchdogTimer++;
}
else
{
// Disable the robot
leftDrive.SetDutyCycle(0);
rightDrive.SetDutyCycle(0); ????
}
}
}
public static uint map(uint x, uint in_min, uint in_max, uint out_min, uint out_max)
{
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
}
}
