Merge pull request #752 from WildernessLabs/v1.3.0

V1.3.0

.github/workflows/main-ci.yml

@@ -0,0 +1,29 @@
+name: Main Build
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches: [ main ]
+
+jobs:
+  build:
+
+    runs-on: windows-latest
+
+    steps:
+
+    - name: Checkout Meadow.Foundation
+      uses: actions/checkout@v3
+      with:
+        path: Meadow.Foundation
+        ref: main
+
+    - name: Setup .NET SDK
+      uses: actions/setup-dotnet@v1
+      with:
+        dotnet-version:
+          7.0.x
+
+    - name: Build Meadow Foundation
+      run: dotnet build -c Release Meadow.Foundation/Source/Meadow.Foundation.sln

Source/Meadow.Foundation.Core.Samples/Motor.BidirectionalDcMotor_Sample/MeadowApp.cs

@@ -0,0 +1,55 @@
+using Meadow;
+using Meadow.Devices;
+using Meadow.Foundation.Motors;
+using Meadow.Hardware;
+using System.Threading.Tasks;
+
+namespace Motor.BidirectionalDcMotor_Sample;
+
+public class MeadowApp : App<F7FeatherV2>
+{
+    //<!=SNIP=>
+
+    private BidirectionalDcMotor motor;
+
+    public override Task Initialize()
+    {
+        Resolver.Log.Info("Initializing...");
+
+        IDigitalOutputPort motorA;
+        IDigitalOutputPort motorB;
+
+        motorA = Device.Pins.D00.CreateDigitalOutputPort(false);
+        motorB = Device.Pins.D01.CreateDigitalOutputPort(false);
+
+        motor = new BidirectionalDcMotor(motorA, motorB);
+
+        return Task.CompletedTask;
+    }
+
+    public override async Task Run()
+    {
+        Resolver.Log.Info("Test Motor...");
+
+        while (true)
+        {
+            // Motor clockwise
+            motor.Clockwise();
+            await Task.Delay(1000);
+
+            // Motor Stop
+            motor.Stop();
+            await Task.Delay(500);
+
+            // Motor counter clockwise
+            motor.CounterClockwise();
+            await Task.Delay(1000);
+
+            // Motor Stop
+            motor.Stop();
+            await Task.Delay(500);
+        }
+    }
+
+    //<!=SNOP=>
+}

Source/Meadow.Foundation.Core.Samples/Motor.BidirectionalDcMotor_Sample/Motor.BidirectionalDcMotor_Sample.csproj

@@ -0,0 +1,21 @@
+<Project Sdk="Meadow.Sdk/1.1.0">
+  <PropertyGroup>
+    <RepositoryUrl>https://github.com/WildernessLabs/Meadow.Foundation</RepositoryUrl>
+    <Company>Wilderness Labs, Inc</Company>
+    <Authors>Wilderness Labs, Inc</Authors>
+    <CopyLocalLockFileAssemblies>true</CopyLocalLockFileAssemblies>
+    <TargetFramework>netstandard2.1</TargetFramework>
+    <OutputType>Library</OutputType>
+    <AssemblyName>App</AssemblyName>
+    <LangVersion>10</LangVersion>
+  </PropertyGroup>
+  <ItemGroup>
+    <PackageReference Include="Meadow.F7" Version="*" />
+    <PackageReference Include="Meadow.Foundation" Version="*" />
+  </ItemGroup>
+  <ItemGroup>
+    <None Update="meadow.config.yaml">
+      <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+    </None>
+  </ItemGroup>
+</Project>

Source/Meadow.Foundation.Core.Samples/Motor.BidirectionalDcMotor_Sample/meadow.config.yaml

@@ -0,0 +1,2 @@
+MonoControl:
+    Options: --jit

Source/Meadow.Foundation.Core/Meadow.Foundation.Core.csproj

@@ -1,5 +1,7 @@
 <Project Sdk="Meadow.Sdk/1.1.0">
   <PropertyGroup>
+    <PackageReadmeFile>Readme.md</PackageReadmeFile>
+    <PackageLicenseExpression>Apache-2.0</PackageLicenseExpression>
     <Authors>Wilderness Labs, Inc</Authors>
     <TargetFramework>netstandard2.1</TargetFramework>
     <OutputType>Library</OutputType>
@@ -18,9 +20,10 @@
     <SymbolPackageFormat>snupkg</SymbolPackageFormat>
     <Description>Core peripheral drivers for Wilderness Labs Meadow</Description>
     <Nullable>enable</Nullable>
-    <LangVersion>9.0</LangVersion>
+    <LangVersion>10.0</LangVersion>
   </PropertyGroup>
   <ItemGroup>
+    <None Include=".\Readme.md" Pack="true" PackagePath=""/>
     <None Include="..\..\Source\icon.png" Pack="true" PackagePath="" />
   </ItemGroup>
   <ItemGroup>

Source/Meadow.Foundation.Core/Motors/BidirectionalDcMotor.cs

@@ -0,0 +1,59 @@
+using Meadow.Hardware;
+
+namespace Meadow.Foundation.Motors;
+
+/// <summary>
+/// A generic DC motor whose direction is dictated by two outputs (i.e. a pair of polarity relays)
+/// </summary>
+public class BidirectionalDcMotor
+{
+    private IDigitalOutputPort _outputA;
+    private IDigitalOutputPort _outputB;
+    private bool _energizeHigh;
+
+    /// <summary>
+    /// Gets the current run state of the motor (true == running)
+    /// </summary>
+    public bool IsRunning => _outputB.State != _outputB.State;
+
+    /// <summary>
+    /// Creates an instance of an BiDirectionalDcMotor
+    /// </summary>
+    /// <param name="outputA">The IDigitalOutputPort driving control relay A</param>
+    /// <param name="outputB">The IDigitalOutputPort driving control relay B</param>
+    /// <param name="energizeHigh">True if the relay control is positive logic, false if it's inverse logic</param>
+    public BidirectionalDcMotor(
+        IDigitalOutputPort outputA,
+        IDigitalOutputPort outputB,
+        bool energizeHigh = true)
+    {
+        _outputA = outputA;
+        _outputB = outputB;
+        _energizeHigh = energizeHigh;
+    }
+
+    /// <summary>
+    /// Stop turning the motor
+    /// </summary>
+    public void Stop()
+    {
+        _outputA.State = _outputB.State = _energizeHigh ? false : true;
+    }
+
+    /// <summary>
+    /// Start turning the motor clockwise
+    /// </summary>
+    public void Clockwise()
+    {
+        _outputA.State = !(_outputB.State = _energizeHigh ? true : false);
+    }
+
+    /// <summary>
+    /// Start turning the motor counter/anti clockwise
+    /// </summary>
+    public void CounterClockwise()
+    {
+        _outputA.State = !(_outputB.State = _energizeHigh ? false : true);
+    }
+
+}