private void MoveTo(Pose target)
{
MoveToSafeHeight();
lock (_motionLocker)
{
_mc.MoveToTarget(MotorY, target.Y);
_mc.MoveToTarget(MotorX, target.X);
_mc.WaitTillEnd(MotorX);
_mc.WaitTillEnd(MotorY);
_mc.MoveToTargetTillEnd(MotorZ, target.Z);
}
}
/// <summary>
/// Avoid collision.
/// </summary>
public void MoveToSafeHeight()
{
lock (_motionLocker)
{
if (GetPosition(MotorZ) < SafeZHeight)
{
_mc.MoveToTargetTillEnd(MotorZ, SafeZHeight);
}
}
}
public void MoveToSafeHeight()
{
lock (_motionLocker)
{
if (GetPosition(MotorZ) < SafeZHeight)
{
CylinderHead(HeadCylinderState.Up, ActionType.Load);
CylinderHead(HeadCylinderState.Up, ActionType.Unload);
_mc.MoveToTargetTillEnd(MotorZ, SafeZHeight);
}
}
}
public void DescendToBottomLayer()
{
_mc.MoveToTargetTillEnd(MotorTray, BottomFirstLayerHeight);
}