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added state change event to BiDirectionalMotor #729

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merged 3 commits into from
Aug 29, 2023
Merged

added state change event to BiDirectionalMotor #729

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bf55691
added state change event to BiDirectionalMotor
ctacke Aug 14, 2023
561b772
Merge branch 'develop' into feature/bi-directional-motor
ctacke Aug 17, 2023
89edb72
Merge branch 'develop' into feature/bi-directional-motor
ctacke Aug 28, 2023
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35 changes: 32 additions & 3 deletions Source/Meadow.Foundation.Core/Motors/BidirectionalDcMotor.cs
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
using Meadow.Hardware;
using System;

namespace Meadow.Foundation.Motors;

Expand All @@ -7,14 +8,40 @@ namespace Meadow.Foundation.Motors;
/// </summary>
public class BidirectionalDcMotor
{
public enum MotorState
{
Stopped,
RunningClockwise,
RunningCounterclockwise
}

public event EventHandler<MotorState> StateChanged = default!;

private IDigitalOutputPort _outputA;
private IDigitalOutputPort _outputB;
private bool _energizeHigh;

/// <summary>
/// Gets the current run state of the motor (true == running)
/// Gets the current run state of the motor
/// </summary>
public bool IsRunning => _outputB.State != _outputB.State;
public MotorState State
{
get
{
var a = _energizeHigh ? _outputA.State : !_outputA.State;
var b = _energizeHigh ? _outputB.State : !_outputB.State;

if (a == b)
{
return MotorState.Stopped;
}
if (a && !b)
{
return MotorState.RunningClockwise;
}
return MotorState.RunningCounterclockwise;
}
}

/// <summary>
/// Creates an instance of an BiDirectionalDcMotor
Expand All @@ -38,6 +65,7 @@ public BidirectionalDcMotor(
public void Stop()
{
_outputA.State = _outputB.State = _energizeHigh ? false : true;
StateChanged?.Invoke(this, State);
}

/// <summary>
Expand All @@ -46,6 +74,7 @@ public void Stop()
public void Clockwise()
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Could we call these StartClockWise() and StartCounterClockWise()? it'll improve discoverability using intellisense when users type start... like we do on Led animations (i.e. StartBlink, StartPulse, etc.)

{
_outputA.State = !(_outputB.State = _energizeHigh ? true : false);
StateChanged?.Invoke(this, State);
}

/// <summary>
Expand All @@ -54,6 +83,6 @@ public void Clockwise()
public void CounterClockwise()
{
_outputA.State = !(_outputB.State = _energizeHigh ? false : true);
StateChanged?.Invoke(this, State);
}

}
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