public void TestCwLimit()
{
Random random = new Random();
double revsPerSecond = 2;
StepperController sc = new StepperController(IP);
sc.StartListening();
sc.SetFormatDecimal();
sc.SetVelocity(5);
sc.ResetEncoderPosition(0);
double numberTurns = random.NextDouble() * 2.5;
double cwLimitCounts = Math.Floor(sc.MaxStepsPerRev * numberTurns);
sc.SetCwLimit(cwLimitCounts);
sc.SetVelocity(revsPerSecond);
sc.ResetEncoderPosition(0);
sc.EnableMotor();
sc.SetNumberStepsPerRevolution(sc.MaxStepsPerRev);
// move to number of turns + ten percent
double calculatedPosition = Math.Floor((cwLimitCounts * 1.1));
sc.MoveToAbsolutePosition((long)calculatedPosition);
Thread.Sleep(2500);
sc.GetEncoderPosition();
Thread.Sleep(500);
Debug.Print($"Limit ={cwLimitCounts}");
Debug.Print($"Calculated ={calculatedPosition}");
Debug.Print($"Encoder Position = {sc.Sm.EncoderPosition}");
// over position is limited by software limit
Assert.AreNotEqual(calculatedPosition, sc.Sm.EncoderPosition);
// software limit and encoder position match
Assert.AreEqual(cwLimitCounts, sc.Sm.EncoderPosition);
// remove software limit
sc.ClearCwLimit();
sc.MoveToAbsolutePosition((long)calculatedPosition);
// over position is not limited by software limit and matches the encoder position
Assert.AreEqual(calculatedPosition, sc.Sm.EncoderPosition);
sc.Dispose();
}
