/// <summary>
/// Switch the axis motor on (in slow speed) during a specified time
/// </summary>
/// <param name="aDirection">Direction to turn.</param>
/// <param name="duration">The duration in milli seconds that the motor should turn</param>
public void Pulse(Direction aDirection, Int32 duration)
{
logger.Debug("Pulse {0}, {1}", aDirection, duration);
if (pulseOffCommand != 0)
{
logger.Debug("Already pulsing: ignore");
return;
}
// Switch to slow speed
SendCommand(AxisCommands.FastOff);
// Start turning in the right direction
if (aDirection == Direction.forward)
{
logger.Debug("Start pulse {0}", AxisCommands.RightOn);
SendCommand(AxisCommands.RightOn);
pulseOffCommand = AxisCommands.RightOff;
}
else
{
logger.Debug("Start pulse {0}", AxisCommands.LeftOn);
SendCommand(AxisCommands.LeftOn);
pulseOffCommand = AxisCommands.LeftOff;
}
// Start a timer
pulseTimer = new System.Threading.Timer(PulseTimeout, this, duration, Timeout.Infinite);
}
private void EndPulse()
{
logger.Debug("Stop pulse {0}", pulseOffCommand);
// Stop the movement
SendCommand(pulseOffCommand);
pulseOffCommand = 0;
// Go back to fast mode
SendCommand(AxisCommands.FastOn);
}
/// <summary>
/// Write a command to the controller
/// </summary>
/// <param name="aCommand">The command to be written. It is the <i>generic axis</i> command</param>
protected void SendCommand(AxisCommands aCommand)
{
Debug.Assert(CommandRegister.ContainsKey(aCommand));
Controller.Commands theCommand = CommandRegister[aCommand];
WriteCommand(theCommand);
}
/// <summary>
/// Write a command to the controller
/// </summary>
/// <param name="aCommand">The command to be written. It is the <i>generic axis</i> command</param>
protected void SendCommand(AxisCommands aCommand)
{
Debug.Assert(CommandRegister.ContainsKey(aCommand));
Controller.Commands theCommand = CommandRegister[aCommand];
WriteCommand(theCommand);
}
private void EndPulse()
{
logger.Debug("Stop pulse {0}", pulseOffCommand);
// Stop the movement
SendCommand(pulseOffCommand);
pulseOffCommand = 0;
// Go back to fast mode
SendCommand(AxisCommands.FastOn);
}
/// <summary>
/// Switch the axis motor on (in slow speed) during a specified time
/// </summary>
/// <param name="aDirection">Direction to turn.</param>
/// <param name="duration">The duration in milli seconds that the motor should turn</param>
public void Pulse(Direction aDirection, Int32 duration)
{
logger.Debug("Pulse {0}, {1}", aDirection, duration);
if (pulseOffCommand != 0)
{
logger.Debug("Already pulsing: ignore");
return;
}
// Switch to slow speed
SendCommand(AxisCommands.FastOff);
// Start turning in the right direction
if (aDirection == Direction.forward)
{
logger.Debug("Start pulse {0}", AxisCommands.RightOn);
SendCommand(AxisCommands.RightOn);
pulseOffCommand = AxisCommands.RightOff;
}
else
{
logger.Debug("Start pulse {0}", AxisCommands.LeftOn);
SendCommand(AxisCommands.LeftOn);
pulseOffCommand = AxisCommands.LeftOff;
}
// Start a timer
pulseTimer = new System.Threading.Timer(PulseTimeout, this, duration, Timeout.Infinite);
}