private async Task calibrateAndRetry(IGridMotorMover mover, int previousPos, int desiredGridPos)
{
bool magnetWasOn = magnet.IsOn;
if (magnetWasOn)
{
magnet.TurnOff();
}
await mover.CalibrateAsync(desiredGridPos > previousPos?MoveDirection.Backward : MoveDirection.Forward);
try
{
await mover.GoToPositionAsync(previousPos);
}
catch (CalibrationException)
{
System.Diagnostics.Debug.WriteLine("Threw another CalibrationException on move despite recalibrating.");
}
if (magnetWasOn)
{
magnet.TurnOn();
}
try
{
await mover.GoToPositionAsync(desiredGridPos);
}
catch (CalibrationException)
{
System.Diagnostics.Debug.WriteLine("Threw another CalibrationException on move despite recalibrating.");
}
}
private async Task tryToMoveAsync(IGridMotorMover mover, int desiredGridPosition)
{
var previousPosition = mover.GridPosition;
try
{
await mover.GoToPositionAsync(desiredGridPosition);
}
catch (CalibrationException)
{
await calibrateAndRetry(mover, previousPosition, desiredGridPosition);
}
}
private void constructAnAxis(ref IMotorMover mover, ref IMotorCalibrator calibrator, ref IPreciseMotorMover preciseMover, ref IGridMotorMover gridMover)
{
var motor = MockMotor.Create();
var locator = new MotorLocator(new MockGpio(), motor.Information);
var signaler = new PositionSignaler(locator);
mover = new MotorMover(3, signaler, locator, motor);
var topInterrupter = new MockPhotoInterrupter(1, 4, 6, locator, motor);
var bottomInterrupter = new MockPhotoInterrupter(-1, -6, -4, locator, motor);
calibrator = new MotorCalibrator(-5, 5, mover, motor.Information, topInterrupter, bottomInterrupter);
preciseMover = new PreciseMotorMover(mover);
gridMover = new GridMotorMover(preciseMover, calibrator);
}
public MovePerformer(IGridMotorMover xMtrMover, IGridMotorMover yMtrMover, IMagnetDrv magnetDrv)
{
xMover = xMtrMover;
yMover = yMtrMover;
magnet = magnetDrv;
}