Question

我有一个项目，它在我们机器人的两个轮子上都有编码器（试图计算多少个刻度，转动轮子）在Gpios中有一个GpioName.ValueChanged事件，当某个gpio将其“读取”值从“高”变为“低”或“从”到“低”时，它会调用一个函数。我的问题是，如果我创建2个事件来电者，我不确定我的代码是如何工作的。比如..

TicksRightPin.ValueChanged + = CountRight; TicksLeftPin.ValueChanged + = CountLeft;

但是当我评论（不使用代码）时，其中任何一个，未注释的另一行都有效。例如：

// TicksRightPin.ValueChanged + = CountRight; TicksLeftPin.ValueChanged + = CountLeft;

或

TicksRightPin.ValueChanged + = CountRight; //TicksLeftPin.ValueChanged + = CountLeft;

我希望他们两个都工作.. 这是我的代码。我希望我没有任何困惑......

public MainPage()
    {
        this.InitializeComponent();
        ImageMap.Source = bp;
        DisableButtons();
        var gpio = GpioController.GetDefault();
        if (gpio == null)
        {
            CheckStatusText.Text = "There is no GPIO connected";
        }
        else
        {
            //Initializing all pins!!
            InitGpios();
            StartStop_Bool = false;
            RunBrake_Bool = false;
            CwCcw_Bool = true;
        }

        TicksRightPin.DebounceTimeout = TimeSpan.FromMilliseconds(10);
        TicksLeftPin.DebounceTimeout = TimeSpan.FromMilliseconds(15);

        TicksRightPin.ValueChanged += CountRight;
        TicksLeftPin.ValueChanged += CountLeft;


    }


private async void CountLeft(GpioPin sender, GpioPinValueChangedEventArgs e)
    {
        if (TicksLeftPin.Read() == GpioPinValue.High && Debouncing_Left == 0)
        {
            LeftMotor_TickCounter++;
            Debouncing_Left = 1;
            if (LeftMotor_TickCounter > 1 && CwCcwPinLeft.Read() == GpioPinValue.Low)
            {
                finalLeftCount++;
                LeftMotor_TickCounter = 0;
            }
            else if (LeftMotor_TickCounter > 1 && CwCcwPinLeft.Read() == GpioPinValue.High)
            {
                finalLeftCount--;
                LeftMotor_TickCounter = 0;
            }
            await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.High, () =>
            {
                CounterLabelLeft.Text = Convert.ToString(finalLeftCount);
            });

        }
        if (TicksLeftPin.Read() == GpioPinValue.Low && Debouncing_Left == 1)
        {
            Debouncing_Left = 0;
        }


    }


private async void CountRight(GpioPin sender, GpioPinValueChangedEventArgs e)
    {

        if (TicksRightPin.Read() == GpioPinValue.High && Debouncing_Right == 0)
        {
            RightMotor_TickCounter++;
            Debouncing_Right = 1;
            if (RightMotor_TickCounter > 0 && CwCcwPinRight.Read() == GpioPinValue.High)
            {
                finalRightCount++;
                RightMotor_TickCounter = 0;
            }
            if (RightMotor_TickCounter > 0 && CwCcwPinRight.Read() == GpioPinValue.Low)
            {
                finalRightCount--;
                RightMotor_TickCounter = 0;
            }

            await Dispatcher.RunAsync(Windows.UI.Core.CoreDispatcherPriority.Normal, () =>
            {
                CounterLabelRight.Text = Convert.ToString(finalRightCount);
            });


        }
        if (TicksRightPin.Read() == GpioPinValue.Low && Debouncing_Right == 1)
        {
            Debouncing_Right = 0;
        }
    }

同时运行2个Gpio事件（ValueChanged）

0 个答案: