private void ReferenceDrive(Duration waitTimeBetweenSteps, bool direction)
{
StepperDriveControl.DriveToReferenceSwitch(waitTimeBetweenSteps, direction, _stopDrivingTokenSource.Token);
if (!_stopDrivingTokenSource.IsCancellationRequested)
{
StepperDriveControl.SetPosition(DriveSetting.ReferencePosition);
_currentStatus.OnNext(Status.Ready);
}
}
private bool DriveSteps(Length distanceToGo)
{
var isDistanceOk = CheckLimitSwitches(distanceToGo);
if (!isDistanceOk)
{
return(false);
}
var steps = distanceToGo.ToSteps(DriveSetting);
var numberOfSteps = Math.Abs(steps);
var maxSpeedinStepsPerSecond = DriveSetting.MaxSpeed.ToStepsPerSecond(DriveSetting);
var maxAccelerationInStepsPerSecondSquare = DriveSetting.Acceleration.ToAccelerationPerSecondSquare(DriveSetting);
var numberOfStepsForAcceleration = Convert.ToInt32(Math.Pow(maxSpeedinStepsPerSecond, 2) / maxAccelerationInStepsPerSecondSquare / 2);
var numberOfStepsForDecceleration = numberOfStepsForAcceleration;
var numberOfStepsWithMaxSpeed = 0;
if (2 * numberOfStepsForAcceleration < numberOfSteps)
{
numberOfStepsForDecceleration = numberOfStepsForAcceleration;
numberOfStepsWithMaxSpeed = numberOfSteps - numberOfStepsForAcceleration - numberOfStepsForDecceleration;
}
else
{
numberOfStepsForAcceleration = numberOfSteps / 2;
numberOfStepsForDecceleration = numberOfSteps / 2;
}
var waitTimeBetweenSteps = CalculateWaitTimeBetweenSteps(
numberOfStepsForAcceleration,
numberOfStepsWithMaxSpeed,
numberOfStepsForDecceleration,
maxSpeedinStepsPerSecond,
maxAccelerationInStepsPerSecondSquare);
var drive = GetDriveDirection(steps);
StepperDriveControl.SetOutput(waitTimeBetweenSteps, drive.direction, drive.distanceOfOneStep, _stopDrivingTokenSource.Token);
return(true);
}
public void SetPosition(Length position) => StepperDriveControl.SetPosition(position);
