public MotorLocator(IGpioPin clearCounter, IMotorInformation motorInformation)
{
stepCounter = motorInformation.SteppingPin;
clearCounterPin = clearCounter;
motorInfo = motorInformation;
position = 0;
lastMoveDirection = MoveDirection.Stopped;
stepCounter.ValueChanged += pinValueChanged;
}
public MotorCalibrator(int gridMinValue, int gridMaxValue
, IMotorMover motorMover, IMotorInformation motorInformation
, IPhotoInterrupter topInterrupter, IPhotoInterrupter bottomInterrupter)
{
gridMin = gridMinValue;
gridMax = gridMaxValue;
locator = motorMover.Locator;
mover = motorMover;
motorInfo = motorInformation;
top = topInterrupter;
bottom = bottomInterrupter;
top.ValueChanged += topInterruptDetected;
bottom.ValueChanged += bottomInterruptDetected;
// Estimate the steps per grid unit
StepsPerGridUnit = (float)(top.StepPosition - bottom.StepPosition) / (top.GridPosition - bottom.GridPosition);
State = CalibrationState.NeedsCalibrating;
}
