/// <summary>
/// Locate the position where the boolean toggles and stop at that point
/// </summary>
/// <param name="boolInput"></param>
/// <param name="tolerance"></param>
/// <param name="speed"></param>
/// <returns>Returns the position of the flag</returns>
public Degrees FindSignalPos(BoolInput boolInput, Degrees tolerance, DegreesPerSecond speed)
{
if (boolInput == null)
{
U.LogPopup("Expected to find BoolInput in FindSignalPos of {0}}'", Nickname);
}
else
{
FindSignalChange(boolInput, tolerance, speed);
FindSignalChange(boolInput, -tolerance, speed / 2);
}
return(CurrentPosition);
}
/// <summary>
/// Move to the absolute popsition at the specified speed
/// </summary>
/// <param name="position"></param>
/// <param name="speed"></param>
/// <param name="waitForCompletion"></param>
public override void MoveAbs(Degrees position, DegreesPerSecond speed, bool waitForCompletion)
{
if (!Homed && !_motionSystem.Simulated)
{
U.LogPopup("Please Home the axis first");
return;
}
MoveDone = false;
// Set tgt motor counts
base.MoveAbs(position);
// Now do the move
_motionSystem.MoveAbsAxis(this, speed, waitForCompletion);
}
private void FindSignalChange(BoolInput boolInput, Degrees distance, DegreesPerSecond speed)
{
bool origVal = boolInput.Value;
//System.Diagnostics.Debug.WriteLine(string.Format("About to move axis at {0}, {1}, {2}, {3}", TargetPosition, CurrentPosition, InPosition, boolInput.Value));
MoveRel(distance, speed, false);
U.SleepWithEvents(200);
while (origVal == boolInput.Value)
{
//System.Diagnostics.Debug.WriteLine(string.Format("Moving axis at {0}, {1}, {2}, {3}", TargetPosition, CurrentPosition, InPosition, boolInput.Value));
if (MoveDone)
{
StopAxis();
throw new MCoreExceptionPopup("Error. Expected '{0}' signal to change.", boolInput.Nickname);
}
U.SleepWithEvents(20);
}
//System.Diagnostics.Debug.WriteLine(string.Format("Stopping axis at {0}, {1}, {2}, {3}", TargetPosition, CurrentPosition, InPosition, boolInput.Value));
StopAxis();
U.SleepWithEvents(1000);
//System.Diagnostics.Debug.WriteLine(string.Format("Axis Stopped at {0}, {1}, {2}, {3}", TargetPosition, CurrentPosition, InPosition, boolInput.Value));
}
/// <summary>
/// Move to the absolute popsition at the specified speed
/// </summary>
/// <param name="position"></param>
/// <param name="speed"></param>
/// <param name="waitForCompletion"></param>
public void MoveAbs(Degrees position, DegreesPerSecond speed)
{
MoveAbs(position, speed, true);
}
public virtual void MoveRel(Degrees position, DegreesPerSecond speed, bool waitForCompletion)
{
Degrees mAbsPos = CurrentPosition + position;
MoveAbs(mAbsPos, speed, waitForCompletion);
}
/// <summary>
/// Move to the absolute popsition at the specified speed
/// </summary>
/// <param name="position"></param>
/// <param name="speed"></param>
public virtual void MoveAbs(Degrees position, DegreesPerSecond speed, bool waitForCompletion)
{
SetTarget(position);
}
