public FocusAssembly(
Logger Logger,
byte MotorSelectPin,
byte MotorResetPin,
byte EncoderSelectPin,
double StepAngle,
double MaxCurrent,
int LowerEncoderBound,
int UpperEncoderBound,
int BoundSafetyThreshold = 500,
int TargetThreshold = 5,
int EncoderUpdateRate = 50)
{
this.Logger = Logger;
Encoder = new Amt22(EncoderSelectPin, Logger);
Driver = new L6470(MotorSelectPin, MotorResetPin, StepAngle, MaxCurrent);
this.LowerEncoderBound = LowerEncoderBound;
this.UpperEncoderBound = UpperEncoderBound;
this.BoundSafetyThreshold = BoundSafetyThreshold;
this.TargetThreshold = TargetThreshold;
this.EncoderUpdateRate = EncoderUpdateRate;
StopMove = false;
MoveLock = new object();
}
public void SetHardware(FocusAssembly FocusAssembly)
{
Encoder = FocusAssembly.Encoder;
Driver = FocusAssembly.Driver;
}