/// <summary>
/// Move focuser by a number of steps
/// </summary>
/// <param name="val">val is the number of steps, + or -, + means out, - means in</param>
public void Move(int val)
{
GeminiHardware.Instance.Trace.Enter("IF:Move", val.ToString());
if (m_State != FocuserState.None) Halt();
if (GeminiHardware.Instance.AbsoluteFocuser)
val = val * GeminiHardware.Instance.StepSize - m_Position; // how far to move from current position
else
val = val * GeminiHardware.Instance.StepSize;
val /= GeminiHardware.Instance.StepSize;
// limit the move to max increment setting
if (Math.Abs(val) > GeminiHardware.Instance.MaxIncrement)
val = GeminiHardware.Instance.MaxIncrement * Math.Sign(val);
GeminiHardware.Instance.Trace.Info(3, "Move Value", val.ToString());
if (val == 0)
{
GeminiHardware.Instance.Trace.Exit("IF:Move", tmrFocus.Enabled);
return;
}
if (GeminiHardware.Instance.BacklashDirection != 0 && Math.Sign(GeminiHardware.Instance.BacklashDirection) == Math.Sign(val))
{
m_State = FocuserState.Backlash;
m_PreviousMove = val;
if ((val > 0 && !GeminiHardware.Instance.ReverseDirection) || (val < 0 && GeminiHardware.Instance.ReverseDirection))
GeminiHardware.Instance.DoCommand(":F+",false);
else
GeminiHardware.Instance.DoCommand(":F-", false);
tmrFocus.Interval = (GeminiHardware.Instance.StepSize * GeminiHardware.Instance.BacklashSize);
GeminiHardware.Instance.Trace.Info(3, "Setting Backlash", tmrFocus.Interval.ToString());
tmrFocus.Start();
}
else
{
m_State = FocuserState.Focusing;
m_PreviousMove = val;
if ((val > 0 && !GeminiHardware.Instance.ReverseDirection) || (val < 0 && GeminiHardware.Instance.ReverseDirection))
GeminiHardware.Instance.DoCommand(":F+", false);
else
GeminiHardware.Instance.DoCommand(":F-", false);
tmrFocus.Interval = (GeminiHardware.Instance.StepSize * Math.Abs(val));
GeminiHardware.Instance.Trace.Info(3, "Focuser", tmrFocus.Interval.ToString());
tmrFocus.Start();
}
GeminiHardware.Instance.Trace.Exit("IF:Move", tmrFocus.Enabled);
}
/// <summary>
/// Executed on a timer when waiting to complete a focuser move
/// </summary>
void tmrFocus_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
{
tmrFocus.Stop();
int val = m_PreviousMove;
GeminiHardware.Instance.Trace.Enter("Focuser:Timer", m_State.ToString(), m_PreviousMove, m_Position);
// if we were taking up backlash prior to this,
// move on to actual focusing command:
if (m_State == FocuserState.Backlash)
{
m_State = FocuserState.Focusing;
if ((val > 0 && !GeminiHardware.Instance.ReverseDirection) || (val < 0 && GeminiHardware.Instance.ReverseDirection))
GeminiHardware.Instance.DoCommand(":F+", false);
else
GeminiHardware.Instance.DoCommand(":F-", false);
tmrFocus.Interval = (GeminiHardware.Instance.StepSize * Math.Abs(val));
tmrFocus.Start();
GeminiHardware.Instance.Trace.Exit("Focuser:Timer", m_State.ToString(), m_PreviousMove, m_Position);
return;
}
// if we are done with focusing, check if braking is enabled
// and execute a break maneuver (move in the opposite direction for a bit)
else if (m_State == FocuserState.Focusing)
{
if (GeminiHardware.Instance.BrakeSize > 0)
{
// move in the opposite direction for specified step*interval
if ((val > 0 && !GeminiHardware.Instance.ReverseDirection) || (val < 0 && GeminiHardware.Instance.ReverseDirection))
GeminiHardware.Instance.DoCommand(":F-", false);
else
GeminiHardware.Instance.DoCommand(":F+", false);
tmrFocus.Interval = (GeminiHardware.Instance.StepSize * GeminiHardware.Instance.BrakeSize);
tmrFocus.Start();
GeminiHardware.Instance.Trace.Exit("Focuser:Timer", m_State.ToString(), m_PreviousMove, m_Position);
return;
}
}
// at this point, we're done focusing!
Halt();
m_Position += m_PreviousMove * GeminiHardware.Instance.StepSize; // new position
GeminiHardware.Instance.Trace.Exit("Foc:Timer", m_State.ToString(), m_PreviousMove, m_Position);
}
/// <summary>
/// Stop focusing
/// </summary>
public void Halt()
{
GeminiHardware.Instance.Trace.Enter("Foc:Halt", m_State.ToString());
tmrFocus.Stop();
m_State = FocuserState.None;
GeminiHardware.Instance.DoCommand(":FQ", false);
}
