private void pinValueChanged(object sender, GpioValueChangedEventArgs e)
{
ticksSinceLastStep = 0;
if (Direction == MoveDirection.Stopped)
{
System.Diagnostics.Debug.WriteLine($"{Axis} motor moved when in Stopped State!");
}
}
private void realPinValueChanged(GpioPin sender, GpioPinValueChangedEventArgs e)
{
GpioValueChangedEventArgs edgeArgs = new GpioValueChangedEventArgs(GpioEdge.FallingEdge);
if (e.Edge == GpioPinEdge.RisingEdge)
{
edgeArgs = new GpioValueChangedEventArgs(GpioEdge.RisingEdge);
}
ValueChanged?.Invoke(this, edgeArgs);
}
private void pinValueChanged(object sender, GpioValueChangedEventArgs e)
{
if (e.Edge == GpioEdge.FallingEdge)
{
// If motor hasn't move and latestActiveMoveDirection is still Stopped, this will not impact anything because the Stopped value is 0.
var pos = 0;
var direction = motorInfo.Direction;
lock (lockObject)
{
lastMoveDirection = direction;
position += (int)direction;
pos = position;
}
onStepCounted(pos, direction);
}
}
private void bottomInterruptDetected(object sender, GpioValueChangedEventArgs e)
{
var pos = locator.Position;
switch (State)
{
case CalibrationState.PreparingToCalibrate:
// Check if can enter the Calibrating state
if (e.Edge == GpioEdge.FallingEdge)
{
if (motorInfo.Direction == MoveDirection.Forward)
{
State = CalibrationState.Calibrating;
lowerBottomPos = pos;
}
}
else
{
if (motorInfo.Direction == MoveDirection.Backward)
{
mover.CancelMove();
}
}
break;
case CalibrationState.Calibrating:
// Update nullable positions
if (e.Edge == GpioEdge.FallingEdge)
{
if (motorInfo.Direction == MoveDirection.Forward)
{
lowerBottomPos = pos;
}
else
{
upperBottomPos = pos;
}
}
else
{
if (motorInfo.Direction == MoveDirection.Backward)
{
lowerBottomPos = pos;
mover.CancelMove();
}
else
{
upperBottomPos = pos;
}
}
break;
case CalibrationState.Ready:
// Check we're still calibrated
var offset = Math.Abs(pos - bottom.StepPosition);
var tolerance = (upperBottomPos.Value - lowerBottomPos.Value) / 2 + 0.25 * StepsPerGridUnit;
if (offset > tolerance)
{
System.Diagnostics.Debug.WriteLine($"Need to calibrate {motorInfo.Axis} motor.");
State = CalibrationState.NeedsCalibrating;
}
break;
}
}
