/// <summary>
/// Continues the process of searching for the reference locations.
/// Called repeatedly by the control loop until the locations are found.
/// </summary>
private static void ContinueHoming()
{
if (!MotionController.Instance.HasFoundReference())
{
return;
}
logger.Info("Home has been located. Zeroing references.");
Thread.Sleep(250);
MotionController.Instance.ZeroReference();
homingPhase = HomingPhase.Complete;
status = Status.Idling;
}
/// <summary>
/// Initializes the device settings.
/// </summary>
static Hulk()
{
logger.Debug("Static create: Hulk");
DataController.Instance.PCReady = false;
homingPhase = HomingPhase.Unhomed;
mount = (ConfigurationManager.AppSettings["MountType"] == "Back") ?
MountType.Back : MountType.Seat;
InitializeMotionStates();
DataController.Instance.StartTasks();
InputController.AcquireJoystick();
status = Status.Initializing;
}
/// <summary>
/// Sets up the homing task. The task will run during subsequent rounds of the control loop,
/// until the calibration is complete.
/// </summary>
public static void Home()
{
MotionCommand newMotionCommand;
logger.Debug("Enter: Home()");
logger.Info("Homing.");
homingPhase = HomingPhase.Seeking;
newMotionCommand = new MotionCommand {
outerAcceleration = HOMING_ACCELERATION,
innerAcceleration = HOMING_ACCELERATION,
outerVelocity = HOMING_VELOCITY,
innerVelocity = HOMING_VELOCITY
};
SetCommand(newMotionCommand);
MotionController.Instance.FindReference();
status = Status.Homing;
}
/// <summary>
/// Tells the HULK to hold position.
/// Used during initialization while computer-PLC communications are being established,
/// and at any time for emergency stop.
/// WARNING: Using as emergency stop will leave any ongoing tasks incomplete.
/// </summary>
public static void Hold()
{
logger.Debug("Enter: Hold()");
DataController.Instance.PCReady = true;
Halt();
if (status == Status.Offline)
{
homingPhase = HomingPhase.Unhomed;
}
if (homingPhase == HomingPhase.Complete)
{
status = Status.Idling;
}
else
{
status = Status.NeedsHoming;
}
logger.Info("Motors online. Holding position.");
}
