/// <summary>
/// Runs the two axes in sequence to the specified target positions.
/// </summary>
/// <param name="firstAxisTarget">The first axis' target position.</param>
/// <param name="secondAxisTarget">The second axis' target position.</param>
public void RunInSequence(int firstAxisTarget, int secondAxisTarget)
{
firstTarget = firstAxisTarget;
secondTarget = secondAxisTarget;
SequenceComplete.Reset(); // Start blocking waiters.
firstAxis.MoveToTargetPosition(firstAxisTarget);
// Does not block, returns immediately.
}
/// <summary>
/// Handles the axis stopped event for an axis.
/// Picks a new random position and starts a new move.
/// </summary>
/// <param name="axis">The axis that has stopped.</param>
static void HandleAxisStoppedEvent(StepperMotor axis)
{
// Be careful, both axes appear to run on the same thread, so using Thread.Sleep() here will affect both.
//Thread.Sleep(3000); // Wait a short time before starting the next move.
var randomTarget = randomGenerator.Next(LimitOfTravel);
//Debug.Print("Starting move to " + randomTarget);
axis.MoveToTargetPosition(randomTarget);
}
/// <summary>
/// Handles the axis stopped event for an axis. Picks a new random position and starts a
/// new move.
/// </summary>
/// <param name="axis">The axis that has stopped.</param>
static void HandleAxisStoppedEvent(StepperMotor axis)
{
// Be careful, both axes appear to run on the same thread, so using Thread.Sleep() here will affect both.
//Thread.Sleep(3000); // Wait a short time before starting the next move.
var randomTarget = randomGenerator.Next(LimitOfTravel);
if (axis is InstantaneousStepperMotor)
{
var distance = Math.Abs(randomTarget - axis.Position);
var targetSpeed = distance / 5.0; // Try to get there in 5 deconds.
axis.MaximumSpeed = targetSpeed > MaxSpeed ? MaxSpeed : targetSpeed;
}
//Debug.Print("Starting move to " + randomTarget);
axis.MoveToTargetPosition(randomTarget);
}
/// <summary>
/// Received the MotorStopped event from the first axis and starts the second axis.
/// </summary>
/// <param name="axis">The axis.</param>
void FirstAxisMotorStopped(StepperMotor axis)
{
secondAxis.MoveToTargetPosition(secondTarget);
}