Added step motor (driver) functionality

src/Client/RobotController/Motor.cs

@@ -1,25 +1,93 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
+using System;
 using System.Threading.Tasks;
+using System.Device.Gpio;
 
 namespace RobotController
 {
-    internal class Motor
+  class Motor
+  {
+    public int STEP_PIN { get; set; }
+    public int DIR_PIN { get; set; }
+    public int ENABLE_PIN { get; set; }
+    private GpioPin stepPin;
+    private GpioPin directionPin;
+    private GpioPin enablePin;
+    private PinValue stepPinValue;
+    private PinValue directionPinValue;
+    private PinValue enablePinValue;
+
+
+    public Motor(int sTEP_PIN, int dIR_PIN)
     {
-        private int directionPin;
-        private int stepPin;
-
-        public Motor(int directionPin, int stepPin)
-        {
-            this.directionPin = directionPin;
-            this.stepPin = stepPin;
-        }
-
-        public void driveSteps(int steps, int direction)
-        {
-            // Simulate driving the motor
-        }
+      STEP_PIN = sTEP_PIN;
+      DIR_PIN = dIR_PIN;
     }
+
+    public Motor(int sTEP_PIN, int dIR_PIN, int eNABLE_PIN = 0)
+    {
+      STEP_PIN = sTEP_PIN;
+      DIR_PIN = dIR_PIN;
+      ENABLE_PIN = eNABLE_PIN;
+    }
+
+    public void InitGPIO()
+    {
+      var gpio = new GpioController();
+
+      stepPin = gpio.OpenPin(STEP_PIN);
+      stepPin.SetPinMode(PinMode.Output);
+      stepPinValue = PinValue.Low;
+      stepPin.Write(stepPinValue);
+
+      directionPin = gpio.OpenPin(DIR_PIN);
+      directionPin.SetPinMode(PinMode.Output);
+      directionPinValue = PinValue.Low;
+      directionPin.Write(directionPinValue);
+
+      if (ENABLE_PIN != 0)
+      {
+        enablePin = gpio.OpenPin(ENABLE_PIN);
+        enablePin.SetPinMode(PinMode.Output);
+        enablePinValue = PinValue.High;
+        enablePin.Write(enablePinValue);
+      }
+    }
+
+    private void OneStep()
+    {
+      var signal = Task.Run(async delegate { await Task.Delay(TimeSpan.FromMilliseconds(1)); });
+      var pavza = Task.Run(async delegate { await Task.Delay(TimeSpan.FromMilliseconds(1)); });
+
+      stepPinValue = PinValue.High;
+      stepPin.Write(stepPinValue);
+      signal.Wait();
+      stepPinValue = PinValue.Low;
+      stepPin.Write(stepPinValue);
+      pavza.Wait();
+    }
+
+    public void Step(int steps)
+    {
+      if (ENABLE_PIN != 0)
+      {
+        enablePinValue = PinValue.Low;
+        enablePin.Write(enablePinValue);
+      }
+
+      if (steps <= 0) { directionPinValue = PinValue.Low; }
+      else { directionPinValue = PinValue.High; }
+      directionPin.Write(directionPinValue);
+
+      for (int i = 0; i < Math.Abs(steps); i++)
+      {
+        OneStep();
+      }
+
+      if (ENABLE_PIN != 0)
+      {
+        enablePinValue = PinValue.High;
+        enablePin.Write(enablePinValue);
+      }
+    }
+  }
 }

src/Client/RobotController/RobotController.csproj

@@ -1,9 +1,12 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
     <TargetFramework>net8.0</TargetFramework>
     <ImplicitUsings>enable</ImplicitUsings>
-    <Nullable>enable</Nullable>
   </PropertyGroup>
 
+  <ItemGroup>
+    <PackageReference Include="System.Device.Gpio" Version="3.1.0" />
+  </ItemGroup>
+
 </Project>