public void SetStartZ(IDeviceDelegateStop start)
{
startZ = start;
}
public void SetStopZ(IDeviceDelegateStop stop)
{
stopZ = stop;
}
private static void InitializeGCodeParser()
{
settings = new Settings();
settings.OneStepZ_Angle_Positive = 30;
settings.OneStepZ_Angle_Negative = 15;
var servo = new Servo(
PWMChannels.PWM_PIN_D10,
new ServoConfig(0, 180, 500, 2500, 50));
servo.RotateTo(15);
Thread.Sleep(500);
servo.RotateTo(35);
var motorShield = new AdafruitMotorShield();
IDeviceDelegateOneStep oneStepX = PrepareOneStepDelegate(motorShield, 1, OperationMode.FullStep);
IDeviceDelegateOneStep oneStepY = PrepareOneStepDelegate(motorShield, 2, OperationMode.FullStep);
IDeviceDelegateOneStep oneStepZ = (steps) =>
{
var a = servo.Angle;
if (steps >= 0)
{
servo.RotateTo(settings.OneStepZ_Angle_Negative);
}
else
{
servo.RotateTo(settings.OneStepZ_Angle_Positive);
}
if (a != servo.Angle)
{
Thread.Sleep(500);
}
};
IDeviceDelegateStop startX = () => { };
IDeviceDelegateStop startY = () => { };
IDeviceDelegateStop startZ = () => {
servo.RotateTo(settings.OneStepZ_Angle_Negative);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Positive);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Negative);
Thread.Sleep(500);
servo.RotateTo(settings.OneStepZ_Angle_Positive);
};
IDeviceDelegateStop stopX = () => { motorShield.GetStepper(2).ReleaseHoldingTorque(); };
IDeviceDelegateStop stopY = () => { motorShield.GetStepper(1).ReleaseHoldingTorque(); };
IDeviceDelegateStop stopZ = () => { servo.RotateTo(settings.OneStepZ_Angle_Negative); };
var device = new XYZGantryDevice();
device.SetStepX(oneStepX);
device.SetStepY(oneStepY);
device.SetStepZ(oneStepZ);
device.SetStartX(startX);
device.SetStartY(startY);
device.SetStartZ(startZ);
device.SetStopX(stopX);
device.SetStopY(stopY);
device.SetStopZ(stopZ);
device.Calibrate(25f, 25f, 1);
var machine = new GCodeMachine(device);
parser = new GCodeParser(machine);
}
