public YAxis(IDriveSettingRepository driveSettingRepository, IEmergencyStop emergencyStop, IGpioControllerFacade gpioControllerFacade)
: base(driveSettingRepository, emergencyStop)
{
var drivePins = new DrivePins
{
EnablePin = 22,
DirectionPin = 5,
StepPin = 6,
ReferenceSwitchPin = 21
};
_stepperDriveControl = new StepperDriveControl(drivePins, gpioControllerFacade);
_defaultDriveSetting = new DriveSetting
{
DriveName = Name,
MaxSpeed = new Speed(80, SpeedUnit.MillimeterPerSecond),
Acceleration = new Acceleration(80, AccelerationUnit.MillimeterPerSecondSquared),
SpindlePitch = new Length(8, LengthUnit.Millimeter),
StepsPerRevolution = 400,
SoftwareLimitMinus = new Length(0.1, LengthUnit.Millimeter),
SoftwareLimitPlus = new Length(141.1, LengthUnit.Millimeter),
ReverseDirection = false,
ReferenceDrivingDirection = DrivingDirection.Negative,
ReferencePosition = new Length(0, LengthUnit.Millimeter),
ReferenceDrivingSpeed = new Speed(3.5, SpeedUnit.MillimeterPerSecond)
};
}
public AutomaticMode(IShotGlassPositionSettingRepository shotGlassPositionSettingRepository,
IXAxis xAxis,
IYAxis yAxis,
ISpiritDispenserControl spiritDispenserControl,
IEmergencyStop emergencyStop)
{
_currentStatus = new BehaviorSubject <Status>(Status.NotReady);
_shotGlassPositionSettingRepository = shotGlassPositionSettingRepository;
_X_Axis = xAxis;
_Y_Axis = yAxis;
_spiritDispenserControl = spiritDispenserControl;
_emergencyStop = emergencyStop;
_emergencyStop.EmergencyStopPressedChanged += (estop) => CalculateStatuts();
var components = new List <IObservable <Status> >();
components.Add(_X_Axis.GetStatusObservable());
components.Add(_Y_Axis.GetStatusObservable());
components.Add(_spiritDispenserControl.GetStatusObservable());
components.CombineLatest(lastStates => lastStates.All(state => state == Status.Ready))
.Subscribe(areComponentsReady =>
{
_areComponentsReady = areComponentsReady;
CalculateStatuts();
});
}
protected AbstractAxis(IDriveSettingRepository driveSettingRepository, IEmergencyStop emergencyStop)
{
(_driveSettingRepository, _emergencyStop) = (driveSettingRepository, emergencyStop);
_stopDrivingTokenSource = new CancellationTokenSource();
_currentStatus = new BehaviorSubject <Status>(emergencyStop.EmergencyStopPressed ? Status.Error : Status.NotReady);
_drivingTask = Task.Run(() =>
{
// just to intialize the member, so no exception is thrown when emergency stop is pressed
});
_emergencyStop.EmergencyStopPressedChanged += EmergencyStopPressedChanged;
}
public SpiritDispenserControl(ISpiritDispenserSettingRepository dispenserSettingRepository, IEmergencyStop emergencyStop, IGpioControllerFacade gpioControllerFacade)
{
_name = "SpiritDispenser";
(_spiritDispenserSettingRepository, _emergencyStop) = (dispenserSettingRepository, emergencyStop);
_spiritSpenderMotor = new LinearMotor(forwardGpioPin: 18, backwardGpioPin: 23, gpioControllerFacade: gpioControllerFacade);
_currentStatus = new BehaviorSubject <Status>(emergencyStop.EmergencyStopPressed ? Status.Error : Status.NotReady);
CurrentPosition = SpiritDispenserPosition.Undefined;
_cancelMovementTokensource = new CancellationTokenSource();
emergencyStop.EmergencyStopPressedChanged += EmergencyStopPressedChanged;
}
public TestingController(IDriveSettingRepository driveSettingRepository, IEmergencyStop emergencyStop)
{
_driveSettingsRepo = driveSettingRepository;
_emergencyStop = emergencyStop;
}
