public bool MoveRelAsync(char axis, int position)
{
mutex.WaitOne();
double final_pos = GetPosition(axis) + (double)position;
if (final_pos > motors[axis].limit || final_pos < 0)
{
return(false);
}
int rot = MicronToRotation(axis, position);
if (!SelectChannel())
{
return(false);
}
if (!TMLLib.TS_SelectAxis(motors[axis].id))
{
return(false);
}
if (!TMLLib.TS_MoveRelative(rot, speed, acceleration, NO_ADDITIVE, TMLLib.UPDATE_IMMEDIATE, TMLLib.FROM_REFERENCE))
{
return(false);
}
mutex.ReleaseMutex();
return(true);
}
private bool HomeAxis(byte axis_id)
{
Int32 position = -100000000;
Int32 home_position = 0;
Int32 back_step = 1000;
double high_speed = 20;
double low_speed = 1.0;
double acceleration = 0.6;
if (!TMLLib.TS_SelectAxis(axis_id))
{
return(false);
}
if (!TMLLib.TS_MoveRelative(position, high_speed, acceleration, NO_ADDITIVE, TMLLib.UPDATE_IMMEDIATE, TMLLib.FROM_REFERENCE))
{
return(false);
}
if (!TMLLib.TS_SetEventOnLimitSwitch(TMLLib.LSW_NEGATIVE, TMLLib.TRANSITION_LOW_TO_HIGH, WAIT_EVENT, NO_STOP))
{
return(false);
}
if (!TMLLib.TS_SetEventOnMotionComplete(WAIT_EVENT, NO_STOP))
{
return(false);
}
if (!TMLLib.TS_MoveRelative(back_step, low_speed, acceleration, NO_ADDITIVE, TMLLib.UPDATE_IMMEDIATE, TMLLib.FROM_REFERENCE))
{
return(false);
}
if (!TMLLib.TS_SetEventOnMotionComplete(WAIT_EVENT, NO_STOP))
{
return(false);
}
if (!TMLLib.TS_SetPosition(home_position))
{
return(false);
}
return(true);
}
