public async Task SlewAxisToAsync(MountAxis axis, double targetPosition)
{
// Update our stored axes
await this._mountControl.QueryStatus(axis).ConfigureAwait(false);
var deltaAngle = targetPosition - this._mountInfo.MountState.AxisPositions[(int)axis];
var stepsToMove = Conversion.AngleToStep(this._mountInfo.MountState.StepCoefficients[(int)axis].FactorRadToStep, deltaAngle);
// Nothing to do
if (stepsToMove == 0)
{
return;
}
MotionModeHiBitFlags directionOnClock;
if (stepsToMove > 0)
{
directionOnClock = MotionModeHiBitFlags.None;
this._mountInfo.MountState.AxesStatus[(int)axis].SlewingClockWise = true;
}
else
{
directionOnClock = MotionModeHiBitFlags.DirectionOnClock;
this._mountInfo.MountState.AxesStatus[(int)axis].SlewingClockWise = false;
}
stepsToMove = Math.Abs(stepsToMove);
// Check if it's far enough that we should go at ludicrous speed
if (stepsToMove > this._mountInfo.MountState.StepCoefficients[(int)axis].LowSpeedGotoMargin)
{
await this._mountControl.SetMotionMode(axis, MotionModeLoBitFlags.GotoModeFast, directionOnClock).ConfigureAwait(false);
this._mountInfo.MountState.AxesStatus[(int)axis].HighSpeed = true;
}
else
{
await this._mountControl.SetMotionMode(axis, MotionModeLoBitFlags.GotoModeSlow, directionOnClock).ConfigureAwait(false);
this._mountInfo.MountState.AxesStatus[(int)axis].HighSpeed = false;
}
await this._mountControl.SetGotoTargetIncrement(axis, stepsToMove).ConfigureAwait(false);
await this._mountControl.SetBreakPointIncrement(axis, this._mountInfo.MountState.BreakSteps[(int)axis]).ConfigureAwait(false);
await this._mountControl.StartMotion(axis).ConfigureAwait(false);
}