public async Task Should_get_z_offset()
{
var expectedOffset = -0.8d;
_fakeMigo
.ReplyMode(FakeMigoMode.Reply)
.ReplyZOffset(expectedOffset);
var result = await _migo.GetZOffset()
.ConfigureAwait(false);
result.ZOffset.Should().Be(expectedOffset);
}
public async IAsyncEnumerable <BedLevelingCalibrationResult> Execute(CancellationToken token)
{
var points = GetPoints(_calibrationMode);
_logger.LogInformation("Home X&Y");
ZOffsetModel zOffset = await _migo.GetZOffset().ConfigureAwait(false);
await SetSpeed().ConfigureAwait(false);
await HomeXY().ConfigureAwait(false);
await HomeZ().ConfigureAwait(false);
await MoveTo(0, 0, 10).ConfigureAwait(false);
foreach (var(x, y) in points)
{
if (token.IsCancellationRequested)
{
_logger.LogInformation($"Scenario aborted.");
yield break;
}
_logger.LogInformation($"Moving to ({x},{y})");
await MoveTo(x, y, 10).ConfigureAwait(false);
var z = zOffset.ZOffset;
_logger.LogInformation($"Moving to zoffset {z}");
await MoveTo(x, y, z).ConfigureAwait(false);
yield return(new BedLevelingCalibrationResult
{
Current = new Position(x, y, z)
});
await MoveTo(x, y, 10).ConfigureAwait(false);
_logger.LogInformation($"Step completed.");
}
_logger.LogInformation($"Scenario completed.");
}