public async Task <EepromConfiguration> CalculateConfig(EepromConfigurationInput param)
{
var result = new EepromConfiguration();
double acc_corr = 1.0615;
double jerkFactor = 25;
result.StepsPerRotation = param.MicroSteps * (uint)param.StepsPerRotation;
result.DistancePerRotationInMm = param.Teeth * param.ToothSizeInMm;
if (Math.Abs(result.DistancePerRotationInMm) > double.Epsilon)
{
result.StepsPerMm = result.StepsPerRotation / result.DistancePerRotationInMm;
result.DistancePerStepInMm = result.DistancePerRotationInMm / result.StepsPerRotation;
}
result.EstimatedMaxStepRate = result.StepsPerRotation * param.EstimatedRotationSpeed;
result.EstimatedMaxSpeedInMmSec = result.DistancePerRotationInMm * param.EstimatedRotationSpeed;
result.EstimatedMaxSpeedInMmMin = result.EstimatedMaxSpeedInMmSec * 60.0;
if (Math.Abs(param.TimeToAcc) > double.Epsilon)
{
result.EstimatedAccelerationInMmSec2 = result.EstimatedMaxSpeedInMmSec / param.TimeToAcc;
result.EstimatedAcc = Math.Sqrt(result.EstimatedMaxStepRate / param.TimeToAcc) * acc_corr;
result.EstimatedAccelerationDistToMaxSpeedInMm = result.EstimatedAccelerationInMmSec2 * param.TimeToAcc * param.TimeToAcc;
}
if (Math.Abs(param.TimeToDec) > double.Epsilon)
{
result.EstimatedDecelerationInMmSec2 = result.EstimatedMaxSpeedInMmSec / param.TimeToDec;
result.EstimatedDec = Math.Sqrt(result.EstimatedMaxStepRate / param.TimeToDec) * acc_corr;
result.EstimatedDecelerationDistFromMaxSpeedInMm = result.EstimatedDecelerationInMmSec2 * param.TimeToDec * param.TimeToDec;
}
result.EstimatedJerkSpeed = result.EstimatedMaxStepRate / jerkFactor;
result.MaxStepRate = (uint)Math.Round(result.EstimatedMaxStepRate, 0);
result.Acc = (ushort)Math.Round(result.EstimatedAcc, 0);
result.Dec = (ushort)Math.Round(result.EstimatedDec, 0);
result.JerkSpeed = (uint)Math.Round(result.EstimatedJerkSpeed, 0);
result.StepsPerMm1000 = (float)(result.StepsPerMm / 1000.0);
return(await Task.FromResult(result));
}
public async Task <EepromConfiguration> CalculateConfig(EepromConfigurationInput param)
{
using (var scope = CreateScope())
{
var paramUri = new UriQueryBuilder();
paramUri.Add("teeth", param.Teeth)
.Add("toothSizeInMm", param.ToothSizeInMm)
.Add("microSteps", param.MicroSteps)
.Add("stepsPerRotation", param.StepsPerRotation)
.Add("estimatedRotationSpeed", param.EstimatedRotationSpeed)
.Add("timeToAcc", param.TimeToAcc)
.Add("timeToDec", param.TimeToDec);
var response = await scope.Instance.GetAsync(CreatePathBuilder().AddQuery(paramUri).Build());
response.EnsureSuccessStatusCode();
return(await response.Content.ReadAsAsync <EepromConfiguration>());
}
}
public async Task <IActionResult> Get(ushort teeth, double toothsizeInMm, ushort microsteps, ushort stepsPerRotation, double estimatedRotationSpeed, double timeToAcc, double timeToDec)
{
// http://localhost:2024/api/EepromConfiguration?teeth=15&toothsizeInMm=2.0µsteps=16&stepsPerRotation=200&estimatedRotationSpeed=7.8&timeToAcc=0.2&timeToDec=0.15
var input = new EepromConfigurationInput
{
Teeth = teeth,
ToothsizeinMm = toothsizeInMm,
Microsteps = microsteps,
StepsPerRotation = stepsPerRotation,
EstimatedRotationSpeed = estimatedRotationSpeed,
TimeToAcc = timeToAcc,
TimeToDec = timeToDec
};
var m = await _eepromConfigurationService.CalculateConfig(input);
if (m == null)
{
return(NotFound());
}
return(Ok(m));
}
public async Task <EepromConfiguration> CalculateConfig(EepromConfigurationInput param)
{
return(await _manager.CalculateConfig(param));
}
