public static void Main()
{
Debug.WriteLine("Hello from nanoFramework!");
// var accelStepper = new AccelStepper(AccelStepper.MotorInterfaceType.FULL4WIRE, IN1, IN3, IN2, IN4, false);
var accelStepper = new AccelStepper(AccelStepper.MotorInterfaceType.FULL4WIRE, IN1, IN3, IN2, IN4, false, new GetMicroSecondsHandler(GetMicroSeconds));
accelStepper.SetMaxSpeed(400.0f);
accelStepper.SetAcceleration(100.0f);
accelStepper.MoveTo(-4069);
accelStepper.EnableOutputs();
while (true)
{
// Change direction at the limits
if (accelStepper.DistanceToGo() == 0)
{
accelStepper.MoveTo(-accelStepper.CurrentPosition());
}
accelStepper.Run();
}
}
public Point GetOffsets()
{
return(new Point(StepperX.CurrentPosition(), StepperY.CurrentPosition()));
}