private void GotoPosition(int p, bool relaxAfterMove)
{
if (VerifyInitialized())
{
MovesCancelled = false;
EasyStepperDriver.Direction dir = EasyStepperDriver.Direction.Forward;
if (p > MaxPosition.Value)
{
p = MaxPosition.Value;
}
if (p < MinPosition.Value)
{
p = MinPosition.Value;
}
int positionDiff = p - CurrentPosition.Value;
int stepsDiff = Convert.ToInt32(Convert.ToDecimal(positionDiff) * StepsToPositionFactor);
if (stepsDiff < 0)
{
dir = EasyStepperDriver.Direction.Backward;
stepsDiff = stepsDiff * -1;
}
if (stepsDiff != 0)
{
State.StatusReason = OwlDeviceStateBase.StatusReasonTypes.ExecutingMove;
this.Driver.WakeUp();
this.Driver.EnableOutputs();
this.Driver.StepMode = EasyStepperDriver.Mode.Full;
this.Driver.StepDirection = dir;
Task.Run(async() => { await this.Driver.Turn(Convert.ToUInt32(stepsDiff), 1); }).Wait();
CurrentPosition = CurrentPosition.Value + positionDiff;
if (relaxAfterMove)
{
this.Driver.DisableOutputs();
this.Driver.Sleep();
State.StatusReason = OwlDeviceStateBase.StatusReasonTypes.Sleeping;
}
else
{
State.StatusReason = OwlDeviceStateBase.StatusReasonTypes.Awake;
}
}
FireMoveCompleted();
}
else
{
State.StatusReason = OwlDeviceStateBase.StatusReasonTypes.InError;
}
}
public override void Recalibrate()
{
if (IsControlEnabled)
{
this.Status = OwlDeviceStateBase.StatusTypes.Unavailable;
State.StatusReason = OwlDeviceStateBase.StatusReasonTypes.Calibrating;
CurrentPosition = null;
EasyStepperDriver.Direction directionForCalibration = EasyStepperDriver.Direction.Forward;
//check the actual Gpio pins, not just the pin numbers.
if (ForwardLimitSensorGpioPin == null && BackwardsLimitSensorGpioPin == null)
{
//can't calibrate anything. Disable me.
this.Status = OwlDeviceStateBase.StatusTypes.InError;
this.StatusReason = OwlDeviceStateBase.StatusReasonTypes.InError;
this.FireDeviceError("Cannot calibrate. No limit sensors found");
}
else
{
//do we calibrate forwards or backwards or both?
bool isDirectLimitReachedAlready = false;
if (ForwardLimitSensorGpioPin != null)
{
if (IsForwardLimitReached().HasValue)
{
isDirectLimitReachedAlready = IsForwardLimitReached().Value;
}
else
{
//Expected to be able to
this.Status = OwlDeviceStateBase.StatusTypes.InError;
this.StatusReason = OwlDeviceStateBase.StatusReasonTypes.InError;
this.FireDeviceError("Cannot calibrate. Expected Forward limit sensor to return a non-null value.");
}
}
else if (BackwardsLimitSensorGpioPin != null)
{
directionForCalibration = EasyStepperDriver.Direction.Backward;
if (IsBackwardLimitReached().HasValue)
{
isDirectLimitReachedAlready = IsBackwardLimitReached().Value;
}
else
{
//Expected to be able to
this.Status = OwlDeviceStateBase.StatusTypes.InError;
this.StatusReason = OwlDeviceStateBase.StatusReasonTypes.InError;
this.FireDeviceError("Cannot calibrate. Expected Backwards limit sensor to return a non-null value (and there was no Forward limit sensor).");
}
}
}
if (this.Status != OwlDeviceStateBase.StatusTypes.InError)
{
bool limitHit = false;
//Do the walk until we hit
limitHit = (directionForCalibration == EasyStepperDriver.Direction.Forward) ? IsForwardLimitReached().Value : IsBackwardLimitReached().Value;
int currentStep = 0;
int stepToIncrement = 2;
this.Driver.WakeUp();
this.Driver.EnableOutputs();
this.Driver.StepMode = EasyStepperDriver.Mode.Full;
while (!limitHit && currentStep < StepsInRangeOfMotion)
{
//Step forward 2 steps
this.Driver.StepDirection = directionForCalibration;
Task.Run(async() => { await this.Driver.Turn(Convert.ToUInt32(stepToIncrement), 1); }).Wait();
currentStep += stepToIncrement;
//Task t = this.Driver.Turn(Convert.ToUInt32(stepsDiff), 1);
//t.Wait();
limitHit = (directionForCalibration == EasyStepperDriver.Direction.Forward) ? IsForwardLimitReached().Value : IsBackwardLimitReached().Value;
}
this.Driver.DisableOutputs();
this.Driver.Sleep();
if (limitHit)
{
//This sets the already-known scale. It does not auto-scale yet
this.CurrentPosition = (directionForCalibration == EasyStepperDriver.Direction.Forward) ? 100 : 0;
}
}
//Do the limit test here.
GotoPosition(0);
GoHomePosition();
}
else
{
//not enabled
this.Status = OwlDeviceStateBase.StatusTypes.Unavailable;
this.StatusReason = OwlDeviceStateBase.StatusReasonTypes.Unknown;
this.CurrentPosition = null;
}
}
