Int32 CalibrateAxis(ref AxisCalStates calState, Int32 moveToZeroSpeed, Int32 moveFromZeroSpeed, bool axisLimit)
{
Int32 speed = 0;
switch (calState)
{
case AxisCalStates.calIdle:
{
break;
}
case AxisCalStates.MovingToZero:
{
if (axisLimit)
{
calState = AxisCalStates.MovingFromZero;
speed = 0;
}
else
{
speed = moveToZeroSpeed;
}
break;
}
case AxisCalStates.MovingFromZero:
{
if (axisLimit)
{
speed = moveFromZeroSpeed;
}
else
{
calState = AxisCalStates.WaitAfterCal;
speed = 0;
}
break;
}
case AxisCalStates.WaitAfterCal:
{
speed = 0;
calState = AxisCalStates.calIdle;
break;
}
}
return(speed);
}
/// <summary>
/// Запуск калибровки.
/// </summary>
/// <returns>В случае наличия других задач (движение на заданные координаты или уже проводится калибровка) возвращается false и калибровка не начинается. Иначе запускается калибровка и возвращается true</returns>
public bool StartCalibration()
{
if (state == States.Idle)
{
SetCoordinates(209000, 205000, -201000, 190000);
state = States.Calibrating;
calStateX = AxisCalStates.MovingToZero;
calStateY = AxisCalStates.MovingToZero;
calStateZ = AxisCalStates.MovingToZero;
calStateA = AxisCalStates.MovingToZero;
timer.Stop();
timer.Interval = calibrationTimerInterval;
timer.Start();
return(true);
}
else
{
return(false);
}
}
