private async Task goToPositionAsync(int position)
{
if (isAtPosition(position))
{
// Cancel a move in case the motor is moving.
System.Diagnostics.Debug.WriteLine($"Motor is at desired position within error (target: {position}, actual: {mover.Locator.Position}).");
mover.CancelMove();
return;
}
var drivePosition = calcDrivePosition(position);
await mover.GoToPositionAsync(drivePosition);
}
private void topInterruptDetected(object sender, GpioValueChangedEventArgs e)
{
var pos = locator.Position;
switch (State)
{
case CalibrationState.PreparingToCalibrate:
// Check if can enter the Calibrating state
if (e.Edge == GpioEdge.FallingEdge)
{
if (motorInfo.Direction == MoveDirection.Backward)
{
State = CalibrationState.Calibrating;
upperTopPos = pos;
}
}
else
{
if (motorInfo.Direction == MoveDirection.Forward)
{
mover.CancelMove();
}
}
break;
case CalibrationState.Calibrating:
// Update nullable positions
if (e.Edge == GpioEdge.FallingEdge)
{
if (motorInfo.Direction == MoveDirection.Backward)
{
upperTopPos = pos;
}
else
{
lowerTopPos = pos;
}
}
else
{
if (motorInfo.Direction == MoveDirection.Forward)
{
upperTopPos = pos;
mover.CancelMove();
}
else
{
lowerTopPos = pos;
}
}
break;
case CalibrationState.Ready:
// Check we're still calibrated
var offset = Math.Abs(pos - top.StepPosition);
var tolerance = (upperTopPos.Value - lowerTopPos.Value) / 2 + 0.25 * StepsPerGridUnit;
if (offset > tolerance)
{
System.Diagnostics.Debug.WriteLine($"Need to calibrate {motorInfo.Axis} motor.");
State = CalibrationState.NeedsCalibrating;
}
break;
}
}