public void startTask()
{
killTask = false;
stepper.ackSteps = 0;
stepper.targetSteps = (int)(stepper.stepSize / (decimal)Config.getConfig().tickSize);
int stepSpeed = (int)(1000 / (stepper.targetSteps / (stepper.stepSize / stepper.stepSpeed)));
stepper.calculatePosition(0);
Thread.Sleep(stepper.stepDelay);
MoveRequest r = new MoveRequest(stepper, direction);
int sentSteps = 0;
int i = 0;
while (!killTask && sentSteps < stepper.targetSteps)
{
Thread.Sleep(stepSpeed);
controller.sendRequest(r);
sentSteps++;
if ((i++) % loadFactor == 0)
{
stepper.calculatePosition(sentSteps);
}
}
while (!killTask && stepper.ackSteps < stepper.targetSteps)
{
stepper.calculatePosition(sentSteps);
}
stepper.calculatePosition(sentSteps);
stepper.originalPosition = stepper.position;
}
public void sendRequest(MoveRequest r)
{
while (isBusy)
{
;
}
isBusy = true;
sendPacket(r.ToPacket());
}
public RequestGui(Request request)
{
InitializeComponent();
if (request.GetType() == typeof(MoveRequest))
{
MoveRequest r = (MoveRequest)request;
lblMotor.Text = r.stepper.id.ToString() + "," + r.direction;
this.Width = 10 + (int)r.stepper.stepSize;
r.RequestSent += R_RequestSent;
r.RequestFinished += R_RequestFinished;
}
}
public void moveOut()
{
this.direction = Direction.Out;
MoveRequest r = new MoveRequest(this, direction);
gui.setQueued();
this.targetSteps = 1;
this.ackSteps = 0;
gui.setProcessing(true);
controller.sendRequest(r);
while (this.ackSteps < this.targetSteps)
{
;
}
calculatePosition(1);
this.originalPosition = this.position;
gui.setProcessing(false);
}
