Netduino3SamplesMain.cs

// Please uncomment exactly one of the offered samples to run it:

//#define Sample01SimpleBlinker
//#define Sample01SimpleBlinkerDistributed
//#define Sample01SimpleBlinkerAlternating
//#define Sample02SmoothPwmBlinker
//#define Sample03ButtonControlsLampPolling
//#define Sample03ButtonControlsLampPollingInvertingButton
//#define Sample03ButtonControlsLampPollingInvertingLamp
//#define Sample03ButtonControlsLampUsing2ButtonsWithAnd
//#define Sample03ButtonControlsLampUsing2ButtonsWithOr
//#define Sample03ButtonControlsLampBlinking
//#define Sample03ButtonControlsLampBlinkingSmoothly
//#define Sample04ButtonControlsLampEventBased
//#define Sample04ButtonControlsLampEventBasedInvertingButton
//#define Sample04ButtonControlsLampEventBasedSmoothly
//#define Sample05ControlLampBrightnessThroughAnalogInput
//#define Sample05ControlLampBrightnessThroughAnalogInputScaled
//#define Sample05ControlLampBrightnessThroughAnalogInputScaledInverted
//#define Sample06WaitForButtonPolling
//#define Sample07WaitForButtonEventBased
//#define Sample02LetMotorRun
//#define Sample08LetManyMotorsRun
//#define Sample09SimpleStepperMotor
//#define Sample10StepperMotorClock
//#define Sample11SimpleTrainWithDoors
#define Sample12ClockWithContinuouslyControlledMotor
//#define Sample13SimplifiedDevelopment

using System;
using System.Diagnostics;
using System.Threading;

namespace AbstractIO.Netduino3.Samples
{

    /// <summary>
    /// This class runs the abstract samples in AbstractIO.Samples on a Netduino 3 board.
    /// </summary>
    public static class Netduino3SamplesMain
    {
        /// <summary>
        /// Runs one of the abstract samples using physical ports of an Netduino 3 board.
        /// </summary>
        public static void Main()
        {

            // AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2 shield;


#if Sample01SimpleBlinker

            // Sample 01: Blink a LED:

            AbstractIO.Samples.Sample01SimpleBlinker.Run(
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample01SimpleBlinkerDistributed

            // Sample 01 again, but this time blinking several LEDs at once simply by distributing the output to them
            // using a BooleanOutputDistributor object, which on itself implements IBooleanOutput and simply passes the
            // Values to an arbitrary number of outputs:

            AbstractIO.Samples.Sample01SimpleBlinker.Run(
                lamp: new BooleanOutputDistributor(
                    new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue),
                    new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
                    new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led),
                    new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led)));

#elif Sample01SimpleBlinkerAlternating

            // Sample 01 again, but this time blinking two LEDs alternating by using the BooleanOutputDistributor
            // combined with inverting one of the outputs using the BooleanOutputInverter, coded using the fluent API
            // that the corresponding extension method offers:

            AbstractIO.Samples.Sample01SimpleBlinker.Run(
                lamp: new BooleanOutputDistributor(
                    new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
                    new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led).Inverted(),
                    new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led),
                    new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue).Inverted()));

#elif Sample02SmoothPwmBlinker

            // Sample 02: Let a lamp blink smoothly. The abstract code just expects any IDoubleOutput and will cyle that
            // in small steps from 0.0 to 1.0 and back to 0.0 forever. As an example of an IDoubleOutput, we pass a
            // PWM-controlled pin:

            AbstractIO.Samples.Sample02SmoothBlinker.Run(
                lamp: new Netduino3.AnalogPwmOutput(DigitalPwmOutputPin.OnboardLedBlue));

#elif Sample03ButtonControlsLampPolling

            // Sample 03: Control a LED using a button:

            AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
                button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample03ButtonControlsLampPollingInvertingButton

            // Sample 03 again, but this time inverting the button simply by using a BooleanInputConverter, simply by
            // using the fluent API offered by the corresponding extension methods:

            AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
                button: new Netduino3.DigitalInput(DigitalInputPin.OnboardButton).Invert(),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample03ButtonControlsLampPollingInvertingLamp

            // Sample 03 again, but this time inverting the lamp simply by using a BooleanOuputConverter, simply by
            // using the fluent API offered by the corresponding extension methods:

            AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
                button: new Netduino3.DigitalInput(DigitalInputPin.OnboardButton),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue).Inverted());

#elif Sample03ButtonControlsLampUsing2ButtonsWithAnd

            // Sample 03 again, but this time the lamp shall only light up if both of two buttons are pressed.
            // To use this sample, connect two closing buttons to the Netduino 3 input pins D0 and D1 with their other
            // ports connected to VSS (+5V).

            AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
                button: new BooleanAndInput(
                    new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D0),
                    new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D1)),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample03ButtonControlsLampUsing2ButtonsWithOr

            // Sample 03 again, but this time the lamp shall light up if one or both of two buttons are pressed.
            // To use this sample, connect two closing buttons to the Netduino 3 input pins D0 and D1 with their other
            // ports connected to VSS (+5V).

            AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
                button: new BooleanOrInput(
                    new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D0),
                    new Netduino3.DigitalInput(Netduino3.DigitalInputPin.D1)),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample03ButtonControlsLampBlinking

            // Sample 03 again, but this time we let the lamp blink simply by using the BlinkedWhenTrueOutput class,
            // coded using the fluent API provided by extension methods:

            AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
                button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue)
                        .BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));

#elif Sample03ButtonControlsLampBlinkingSmoothly

            // Sample 03 again, but this time we let the lamp blink smoothly by using PWM and the SmoothedOutput class,
            // coded using fluent API (even if the Run() method does nothing than simply turn the "output" on when the
            // button is pressed). Read the definition of the lamp in reverse order:
            // - Incoming is simply the boolean signal of the button.
            // - This is made blink (BlinkedWhenTrue).
            // - This, still boolean, value gets mapped to the double number 0.0 for false and 1.0 for true
            //   (MappedFromBoolean).
            // - This signal, which switches between 0.0 and 1.0, is then smoothed to slowly enlight or dimm the lamp
            //   (Smoothed).
            // - This, finally, is fed into the AnalogPwmOutput controlling the LED.
            // So, using the fluent API for outputs is coded from back to front: Define the target output (here, the
            // PWM-controlled LED, that is an IDoubleOutput), and apply transformations until you get an "I(type)Output"
            // output where "(type)" matches the output type expected (here, an IBooleanOutput).

            AbstractIO.Samples.Sample03ButtonControlsLampPolling.Run(
                button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
                lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)
                        .Smoothed(valueChangePerSecond: 1.0f, rampIntervalMs: 20)
                        .MappedFromBoolean(falseValue: 0.0f, trueValue: 1.0f)
                        .BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));

#elif Sample04ButtonControlsLampEventBased

            // Sample 04: Control a lamp using a button, but this time do not poll the status of the button, but react
            // to the ValueChanged event (that is, reacting on an IRQ generated by the µC whenever the status of the
            // button's input pin changed).

            AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
                button: new Netduino3.ObservableDigitalInput(DigitalInputPin.OnboardButton),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample04ButtonControlsLampEventBasedInvertingButton

            // Sample 04 again: Control a lamp using a button using events, but with an inverted button using the
            // ObserverableBooleanInputInverter class, coded using the fluent API that the extension methods offer.

            AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
                button: new Netduino3.ObservableDigitalInput(DigitalInputPin.OnboardButton).Invert(),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample04ButtonControlsLampEventBasedSmoothly

            // Sample 04 again, but let the LED blink smoothly just as in Sample03ButtonControlsLampBlinkingSmoothly.
            // We do the very same here: Convert the IBooleanOutput of the event based method to the smoothly blinking
            // IDoubleOutput for the PWM-controlled LED. It works all the same whether we use a polling IBooleanInput
            // or the IRQ/event-based variant IObservableBooleanInput for the button. The output possibillities are just
            // the same.

            AbstractIO.Samples.Sample04ButtonControlsLampEventBased.Run(
                button: new Netduino3.ObservableDigitalInput(Netduino3.DigitalInputPin.OnboardButton),
                lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)
                    .Smoothed(valueChangePerSecond: 1.0f, rampIntervalMs: 20)
                    .MappedFromBoolean(falseValue: 0.0f, trueValue: 1.0f)
                    .BlinkedWhenTrue(onDurationMs: 300, offDurationMs: 500));

#elif Sample05ControlLampBrightnessThroughAnalogInput

            // Sample 05: Let a LED light up just as bright (in the range from 0.0 to 1.0) as an analog input gives
            // values (also in the range from 0.0 to 1.0). Note that the input range is not scaled in any way in this
            // sample, but just goes straigt to the output. To run this sample, connect a variable resistor (such as a
            // photo cell) between anlog input pin A0 and GND (0V). Then, the lamp will light darker as more light goes
            // to the photo cell.

            AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
                input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0),
                lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));

#elif Sample05ControlLampBrightnessThroughAnalogInputScaled

            // Sample 05 again, but this time auto-learn the actual incoming value range of the input and scale it to
            // the range from 0.0 to 1.0 using the ScaleToRangeInput class, coded using the fluent API of the
            // corresponding extension methods. This will cause the full range from 0.0 to 1.0 being used on the lamp,
            // regardless if, for example, the incoming values range only from 0.3 to 0.6. To run this sample, connect a
            // variable resistor (such as a photo cell) between anlog input pin A0 and GND (0V).

            AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
                input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0)
                        .ScaleToRange(smallestValueMappedTo: 0.0f, largestValueMappedTo: 1.0f),
                lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));

#elif Sample05ControlLampBrightnessThroughAnalogInputScaledInverted

            // Sample 05 again, but this time the auto-learned ranged has swapped lower and upper limits. This results
            // in the lamp going brighter when the analog input signal gets lower (that is, the photo cell getting  more
            // light, and vice versa. To run this sample, connect a variable resistor (such as a photo cell) between
            // anlog input pin A0 and GND (0V).

            AbstractIO.Samples.Sample05ControlLampBrightnessThroughAnalogInput.Run(
                input: new Netduino3.AnalogAdcInput(Netduino3.AnalogInputPin.A0)
                        .ScaleToRange(smallestValueMappedTo: 1.0f, largestValueMappedTo: 0.0f),
                lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue));

#elif Sample06WaitForButtonPolling

            // Sample 06: Wait for an input to reach a specific value, or to change, using the WaitFor() and
            // WaitForChange() extension methods. In this sample, the button is used only as an IBooleanInput, so that
            // waiting will cause polling. See sample 07 for the exact same code, just using the butten as an
            // IObservableBooleanInput, working without polling.

            AbstractIO.Samples.Sample06WaitForButtonPolling.Run(
                button: new Netduino3.DigitalInput(Netduino3.DigitalInputPin.OnboardButton),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample07WaitForButtonEventBased

            // Sample 07: Nearly the same as sample 06, but using the button as an IObservableBooleanInput insted of
            // a plain IBooleanInput. This allows the WaitFor() and WaitForChange() methods to use IRQ events instead of
            // polling:

            AbstractIO.Samples.Sample07WaitForButtonEventBased.Run(
                button: new Netduino3.ObservableDigitalInput(Netduino3.DigitalInputPin.OnboardButton),
                lamp: new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.OnboardLedBlue));

#elif Sample02LetMotorRun

            // Connect to the Adafruit V2 shield at its default address:
            shield = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2();

            // Use the sample controlling a lamp just control a motor, as both implement IDoubleOutput:

            AbstractIO.Samples.Sample02SmoothBlinker.Run(
                lamp: shield.GetDcMotor(1));

#elif Sample08LetManyMotorsRun

            // Control as many motors you whish on as many motor shields you whish simultaneously:

            // Let a lamp blink smoothly on a separate thread as a means to see how smooth all these operations can be
            // handled by the board:

            Thread blinkThread = new Thread(
                () => AbstractIO.Samples.Sample02SmoothBlinker.Run(
                    lamp: new Netduino3.AnalogPwmOutput(Netduino3.DigitalPwmOutputPin.OnboardLedBlue)));

            blinkThread.Start();

            // Run the sample, using as many motors as you like:
            // As additional ideas, suppose that:
            // - All motors can run on 9V, but one only on 6V. So we scale this motor's output by 6/9.
            // - One DC motor has its pins swapped and needs output in reverse polarity. So scale by a factor of -1.
            // Note that the Run() method does not know nor needs to know about this facts about the actual motors, and
            // that all we need to do is to pass scaled outputs using the fluent API to the Run() method.
            //
            // We pass 3 onboard LEDs to display the number of motors which are (still) accelerating or decelerating
            // as numbers 0, 1, 2 or greater than 2.
            //
            // We let the Run() method run on its own thread because blocking the main thread by waiting for
            // ManualResetEvents (as is done while the Run() method waits) would block the whole OS (as of 2018-05-05).

            var shield1 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(96);
            var shield2 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);
            var shield3 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(98);
            var shield4 = new AbstractIO.AdafruitMotorShieldV2.AdafruitMotorShieldV2(99);

            Thread runner = new Thread(() =>
                AbstractIO.Samples.Sample08SmoothManyAnalogOutputs.Run(
                    new IBooleanOutput[] {
                        new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort1Led),
                        new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort2Led),
                        new Netduino3.DigitalOutput(Netduino3.DigitalOutputPin.GoPort3Led)
                    },
                    shield1.GetDcMotor(1),
                    shield1.GetDcMotor(2),
                    shield1.GetDcMotor(3),
                    shield1.GetDcMotor(4),
                    shield2.GetDcMotor(1),
                    shield2.GetDcMotor(2),
                    shield2.GetDcMotor(3),
                    shield2.GetDcMotor(4),
                    shield3.GetDcMotor(1).Scaled(factor: 6.0f / 9.0f),
                    shield3.GetDcMotor(2),
                    shield3.GetDcMotor(3),
                    shield3.GetDcMotor(4),
                    shield4.GetDcMotor(1).Scaled(factor: -1.0f),
                    shield4.GetDcMotor(2),
                    shield4.GetDcMotor(3),
                    shield4.GetDcMotor(4)));

            runner.Start();

            for (; ; ) { Thread.Sleep(10); }

#elif Sample09SimpleStepperMotor

            // Let a stepper motor turn randomly:

            shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2();

            //new Thread(() =>
            //    AbstractIO.Samples.Sample09SimpleStepperMotor.Run(shield.GetStepperMotor(1, 2, 8)))
            //    .Start();

            const float scale = 0.4f;

            new Thread(() =>
                AbstractIO.Samples.Sample09SimpleStepperMotor.Run(
                    new StepperMotor(shield.GetDcMotor(1).Scaled(scale), shield.GetDcMotor(2).Scaled(scale), 8)))
                .Start();

            for (; ; )
            {
                Thread.Sleep(10);
            }

#elif Sample10StepperMotorClock

            // Let a simple clock run by turning a stepper motor a given number of steps every minute:

            shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);

            const float clockScale = 0.2f;

            new Thread(() =>
                AbstractIO.Samples.Sample10StepperMotorClock.Run(
                    stepper: new StepperMotor(phase1Output: shield.GetDcMotor(1).Scaled(clockScale),
                                              phase2Output: shield.GetDcMotor(2).Scaled(clockScale),
                                              stepsPerStepCycle: 4),
                    stepsPerMinute: 4,
                    pauseBetweenStepsInMs: 50))
                .Start();

            for (; ; )
            {
                Thread.Sleep(10);
            }

#elif Sample11SimpleTrainWithDoors

            // Let a train run:

            shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2(97);

            AbstractIO.Samples.Sample11SimpleTrainWithDoors.Run(
                trainMotor: shield.GetDcMotor(1).Smoothed(valueChangePerSecond: 2.0f, rampIntervalMs: 20),
                trainReachedBottomStation: new BooleanOrInput(new Netduino3.DigitalInput(DigitalInputPin.D0),
                                                              new Netduino3.DigitalInput(DigitalInputPin.D1)),
                doorMotor: shield.GetDcMotor(2),
                waitForDoorsToMoveInMs: 1000,
                waitWithOpenDoorsInMs: 3000,
                waitAroundDoorOperationsInMs: 1000);

#elif Sample12ClockWithContinuouslyControlledMotor

            // Let a clock run that is driven by a simple DC motor (no stepper) and which has a digital input that gives
            // a specific number of "1" pulses for a turn of a specific axis of the clock's gear.

            // The motor is a simple DC motor. As its pins are swapped in the fischertechnik model currently, we use
            // the .Scaled() extension to turn its direction by a factor of -1.

            // The pulse switch is a contact customly built out of fischertechnik parts directly on a very small
            // metallic worm gear. Note that its value is not only fed into the model code, but also tee-like output to
            // a monitor LED.

            // The seconds lamp is driven independently of all this. The model code just has a timer changing a boolean
            // output each time it fires. To have the effect of a lamp going smoothly on and of, we use the
            // .Smoothed() extension method to smooth the boolean value from the timer code into a nice looking LED
            // pattern.

            // The ideal seconds per pulse are calculated for a miniaturized fischertechnik clock with the following
            // gear:
            // Motor worm => Z14 and worm => Z14 and worm (here pulses are detected) => Z14 and worm => Z22 and minutes.
            // So the relation of pulse detection to minutes is 1/14/22 and thus the turnaround time of the detecting
            // worm is 3600 s / 14 / 22 ≈ 11,69 seconds (rounded).

            var shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2();

            // Let a lamp blink in one-second-intervals:
            // Start a blinking seconds lamp calmly going on in one second and off again in the next:

            var secondsLamp = new Netduino3.AnalogPwmOutput(DigitalPwmOutputPin.OnboardLedBlue)
                              .Scaled(quadraticCoefficient: 1f, factor: 0f, offset: 0f)
                              .Smoothed(valueChangePerSecond: 1f, rampIntervalMs: 20)
                              .MappedFromBoolean(falseValue: 0f, trueValue: 1f);

            var secondsTimer = new System.Threading.Timer(
                                    (state) => { secondsLamp.Value = !secondsLamp.Value; },
                                    null, 0, 1000);

            // Run the clock:
            AbstractIO.Samples.Sample12ClockWithContinuouslyControlledMotor.Run(

                motor: shield.GetDcMotor(3)
                       .Scaled(factor: -1f), // If pins are reversed in the model, negate speed.

                minimumMotorSpeed: 0.08f,

                initialSpeedGuess: 0.11f,

                pulse: (new Netduino3.DigitalInput(DigitalInputPin.D2))
                       .MonitoredTo(teeTarget: new Netduino3.DigitalOutput(DigitalOutputPin.GoPort3Led)),

                idealSecondsPerCycle: 3600f / (22f * 14f),

                runAtFullSpeedSwitch: new DigitalInput(DigitalInputPin.OnboardButton));

#elif Sample13SimplifiedDevelopment


            // The most primitive program ever: Let a motor run when a button is pressed.

            shield = new AdafruitMotorShieldV2.AdafruitMotorShieldV2(address: 97);

            //AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(

            //    button: new Netduino3.DigitalInput(DigitalInputPin.D2),          // Monitor a digital input pin

            //    motor: shield.GetDcMotor(1)                                      // Create a motor output
            //           .MappedFromBoolean(falseValue: 0f, trueValue: 1f)         // Map a boolean to a float

            //    );

            // Let the motor turn on and off smoothly!

            //AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(

            //    button: new Netduino3.DigitalInput(DigitalInputPin.D2),

            //    motor: shield.GetDcMotor(1)
            //           .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20) // Smooth the float value
            //           .MappedFromBoolean(falseValue: 0f, trueValue: 1f)

            //    );

            // Let a lamp monitor when the motor is on or off:

            //AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(

            //    button: new Netduino3.DigitalInput(DigitalInputPin.D2),

            //    motor: shield.GetDcMotor(1)
            //           .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20)
            //           .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
            //           .Distributed(                                           // Distribute output to another one
            //                shield.GetDcMotor(2)                               // A lamp output
            //                .MappedFromBoolean(falseValue: 0f, trueValue: 1f)) // Mapped from boolean

            //    );

            // Let the lamp blink instead of only light up:

            //AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(

            //    button: new Netduino3.DigitalInput(DigitalInputPin.D2),

            //    motor: shield.GetDcMotor(1)
            //           .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20)
            //           .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
            //           .Distributed(
            //                shield.GetDcMotor(2)
            //                .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
            //                .BlinkedWhenTrue(onDurationMs: 500, offDurationMs: 500)) // Blink as long as pressed

            //    );

            // Let the lamp blink smoothly:

            //AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(

            //    button: new Netduino3.DigitalInput(DigitalInputPin.D2),

            //    motor: shield.GetDcMotor(1)
            //           .Smoothed(valueChangePerSecond: 0.5f, rampIntervalMs: 20)
            //           .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
            //           .Distributed(
            //                shield.GetDcMotor(2)
            //                .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20) // Smooth the blinking lamp
            //                .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
            //                .BlinkedWhenTrue(onDurationMs: 500, offDurationMs: 500))

            //);

            // Replace the lamp with an analog photocell, auto-learning its value range:

            //AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(

            //    button: new Netduino3.AnalogAdcInput(AnalogInputPin.A1)                // An analog input
            //        .ScaleToRange(smallestValueMappedTo: 0f, largestValueMappedTo: 1f) // auto-learning its range
            //        .SchmittTrigger(threshold: 0.5f, hysteresis: 0.05f),               // converted too boolean

            //    motor: shield.GetDcMotor(1)
            //           .Smoothed(valueChangePerSecond: 0.5f, rampIntervalMs: 20)
            //           .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
            //           .Distributed(
            //                shield.GetDcMotor(2)
            //                .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20)
            //                .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
            //                .BlinkedWhenTrue(onDurationMs: 500, offDurationMs: 500))

            //    );

            // Invert the behavior of the light barrier:

            AbstractIO.Samples.Sample13SimplifiedDevelopment.Run(

                button: new Netduino3.AnalogAdcInput(AnalogInputPin.A1)                
                    .ScaleToRange(smallestValueMappedTo: 0f, largestValueMappedTo: 1f) 
                    .SchmittTrigger(threshold: 0.5f, hysteresis: 0.05f)
                    .Invert(),                                                         // Invert the light barrier

                motor: shield.GetDcMotor(1)
                       .Smoothed(valueChangePerSecond: 0.5f, rampIntervalMs: 20)
                       .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
                       .Distributed(
                            shield.GetDcMotor(2)
                            .Smoothed(valueChangePerSecond: 2f, rampIntervalMs: 20)
                            .MappedFromBoolean(falseValue: 0f, trueValue: 1f)
                            .BlinkedWhenTrue(onDurationMs: 500, offDurationMs: 500))

                );

            // Run forever:
            Thread.Sleep(Timeout.Infinite);

#else
            //#error Please uncomment exactly one of the samples.

            var startTime = DateTime.UtcNow;
            int periods = 0;

            var timer = new Timer(
                (state) =>
                {
                    periods++;
                    double s = DateTime.UtcNow.Subtract(startTime).TotalSeconds;
                    double p = periods;
                    Debug.WriteLine(p.ToString() + " | " + s.ToString() + " | " + ((p - s) / s).ToString());
                },
                null,
                1000,
                1000);

            System.Threading.Thread.Sleep(Timeout.Infinite);
#endif
        }
    }
}