public Result SetMoveSettings(int deviceID, ref move_settings_t moveSettings)
{
base.MoveSettings = moveSettings;
return(API.set_move_settings(deviceID, ref moveSettings) == Result.ok ?
base.Result : Result.error);
}
/// <summary>
/// Unsafe. Could physically damage actuators <br/>
///Perform a calibration of the actuator specified by deviceID. The actuator is moved to both edges and a middle (reference)
/// value is set, which will represent the new zero position
/// </summary>
/// <param name="deviceID">identifies actuator, of type int</param>
/// <returns>Result.ok if operation is successful, otherwise either Result.error, Result.value_error, Result.no_device, or Result.not_implemented</returns>
public List <int> CalibrateMovement(int deviceID)
{
// Set move settings
int minEdge = 0;
int maxEdge = 0;
move_settings_t moveSettings = new move_settings_t {
Accel = 1000, Decel = 1000, Speed = 400
};
SetMoveSettings(deviceID, ref moveSettings);
// Move left until edge and remember position
MoveContinuouslyLeft(deviceID);
if (WaitForStopWhile(deviceID, 0) == Result.ok)
{
minEdge = GetCurrentPositionSteps(deviceID);
}
// Move right until edge and remember position
MoveContinuouslyRight(deviceID);
if (WaitForStopWhile(deviceID, 0) == Result.ok)
{
maxEdge = GetCurrentPositionSteps(deviceID);
}
Int32 zero = (maxEdge + minEdge) / 2;
// Do maxEdge - minEdge and move to the position (middle)
MoveToPosition(deviceID, zero, 0);
if (WaitForStopWhile(deviceID, 0) == Result.ok)
{
// Set this position as the new home position
SetZeroPosition(deviceID);
}
List <int> edgeValues = new List <int> {
minEdge, maxEdge
};
return(edgeValues);
}
