private void constructMotorMover()
{
mockMotor = MockMotor.Create();
motorLocator = new MotorLocator(new MockGpio(), mockMotor.Information);
positionSignaler = new PositionSignaler(motorLocator);
motorMover = new MotorMover(3, positionSignaler, motorLocator, mockMotor);
}
private void setup()
{
mockMotor = MockMotor.Create();
locator = new MotorLocator(new MockGpio(), mockMotor.Information);
signaler = new PositionSignaler(locator);
mover = new MotorMover(3, signaler, locator, mockMotor);
topInterrupt = new MockPhotoInterrupter(1, lowerTopIntPos, upperTopIntPos, locator, mockMotor);
bottomInterrupt = new MockPhotoInterrupter(-1, lowerBottomIntPos, upperBottomIntPos, locator, mockMotor);
calibrator = new MotorCalibrator(-5, 5, mover, mockMotor.Information, topInterrupt, bottomInterrupt);
}
private void constructAnAxis(ref IMotorMover mover, ref IMotorCalibrator calibrator, ref IPreciseMotorMover preciseMover, ref IGridMotorMover gridMover)
{
var motor = MockMotor.Create();
var locator = new MotorLocator(new MockGpio(), motor.Information);
var signaler = new PositionSignaler(locator);
mover = new MotorMover(3, signaler, locator, motor);
var topInterrupter = new MockPhotoInterrupter(1, 4, 6, locator, motor);
var bottomInterrupter = new MockPhotoInterrupter(-1, -6, -4, locator, motor);
calibrator = new MotorCalibrator(-5, 5, mover, motor.Information, topInterrupter, bottomInterrupter);
preciseMover = new PreciseMotorMover(mover);
gridMover = new GridMotorMover(preciseMover, calibrator);
}
public MotorCalibrator(int gridMinValue, int gridMaxValue
, IMotorMover motorMover, IMotorInformation motorInformation
, IPhotoInterrupter topInterrupter, IPhotoInterrupter bottomInterrupter)
{
gridMin = gridMinValue;
gridMax = gridMaxValue;
locator = motorMover.Locator;
mover = motorMover;
motorInfo = motorInformation;
top = topInterrupter;
bottom = bottomInterrupter;
top.ValueChanged += topInterruptDetected;
bottom.ValueChanged += bottomInterruptDetected;
// Estimate the steps per grid unit
StepsPerGridUnit = (float)(top.StepPosition - bottom.StepPosition) / (top.GridPosition - bottom.GridPosition);
State = CalibrationState.NeedsCalibrating;
}
public PreciseMotorMover(IMotorMover motorMover)
{
mover = motorMover;
}