internal static AccelerationInstruction[] CreateAcceleration(int speed, int desiredSpeed)
{
var canSkipAcceleration = speed == desiredSpeed;
canSkipAcceleration |= Math.Abs(speed) >= Configuration.StartDeltaT && Math.Abs(desiredSpeed) >= Configuration.StartDeltaT;
if (canSkipAcceleration)
{
//no acceleration is required
return(new AccelerationInstruction[0]);
}
if (Math.Abs(Math.Sign(speed) - Math.Sign(desiredSpeed)) > 1)
{
throw new NotImplementedException("Stop and run in other direction");
}
var stepCount = desiredSpeed > 0 ? (Int16)5000 : (Int16)(-5000);
if (desiredSpeed == 0)
{
stepCount = speed > 0 ? (Int16)5000 : (Int16)(-5000);
}
speed = Math.Abs(speed);
desiredSpeed = Math.Abs(desiredSpeed);
if (speed == 0)
{
speed = Configuration.StartDeltaT;
}
if (desiredSpeed == 0)
{
desiredSpeed = Configuration.StartDeltaT;
}
var acceleration = PlanBuilder.CalculateBoundedAcceleration((UInt16)speed, (UInt16)desiredSpeed, stepCount);
return(new AccelerationInstruction[] { acceleration });
}