public void TestSpeedException()
{
var pin1 = new Mock <IGpioPin>();
var pin2 = new Mock <IGpioPin>();
var stepper = new StepperMotor(200, pin1.Object, pin2.Object);
Assert.Throws <Exception>(() => stepper.SetSpeed(-1));
Assert.Throws <Exception>(() => stepper.SetSpeed(0));
}
public async Task Init()
{
var gpio = GpioController.GetDefault();
// Show an error if there is no GPIO controller
if (gpio == null)
{
logger.WriteLn("There is no GPIO controller on this device.");
return;
}
this.switchX = gpio.OpenPin(5);
this.switchY = gpio.OpenPin(6);
switchX.SetDriveMode(GpioPinDriveMode.Input);
switchY.SetDriveMode(GpioPinDriveMode.Input);
logger.WriteLn("GPIO initialized", LogType.Success);
await servoDriver.Init();
logger.WriteLn("Pen driver initialized", LogType.Success);
await PenUp();
await motorDriver.Init();
motorX.SetSpeed(200);
motorY.SetSpeed(200);
logger.WriteLn("Plotter initialized", LogType.Success);
}
public void TestMovementTiming(int revsPerMinute)
{
var pin1 = new Mock <IGpioPin>();
var pin2 = new Mock <IGpioPin>();
var stepper = new StepperMotor(200, pin1.Object, pin2.Object);
var timer = new Stopwatch();
timer.Start();
stepper.SetSpeed(revsPerMinute);
var expectedDelay = revsPerMinute == 10 ? 30 : 15;
stepper.Move(1, Direction.Clockwise);
var elapsed1 = timer.ElapsedMilliseconds;
Assert.InRange(elapsed1, 0, expectedDelay);
stepper.Move(1, Direction.Clockwise);
var elapsed2 = timer.ElapsedMilliseconds;
Assert.InRange(elapsed2, elapsed1 + expectedDelay - 1, elapsed1 + 35);
stepper.Move(10, Direction.Clockwise);
var elapsed3 = timer.ElapsedMilliseconds;
Assert.InRange(elapsed3, elapsed2 + expectedDelay * 10 - 1, elapsed2 + expectedDelay * 10 + 5);
stepper.Move(5, Direction.Anticlockwise);
var elapsed4 = timer.ElapsedMilliseconds;
Assert.InRange(elapsed4, elapsed3 + 5 * expectedDelay - 1, elapsed3 + 5 * expectedDelay + 5);
}
private void StepperMotorTest(StepperMotorIndex motorIndex, SteppingMode steppingMode = SteppingMode.FullSteps)
{
if (stepperMotor.IsInitialized)
{
// Configure steps, and RPM
const uint steps = 200;
const byte rpm = 20;
// Set speed
stepperMotor.SetSpeed(rpm);
// Move motor forward
stepperMotor.Move(motorIndex, MotorDirection.Forward, steps, steppingMode);
//stepperMotor.MoveWithSpeedAdjustment(motorIndex, MotorDirection.Forward, steps, steppingMode);
// ... and go back to initial position
stepperMotor.Move(motorIndex, MotorDirection.Backward, steps, steppingMode);
//stepperMotor.MoveWithSpeedAdjustment(motorIndex, MotorDirection.Backward, steps, steppingMode);
}
}