public void RunToPosition()
{
while (StepperX.Run() || StepperY.Run())
{
;
}
}
public void ResetMotorParameters()
{
StepperX.SetMaxSpeed(Config.MOTOR_X_MAX_SPEED);
StepperY.SetMaxSpeed(Config.MOTOR_Y_MAX_SPEED);
StepperX.SetAcceleration(Config.MOTOR_X_ACCELERATION);
StepperY.SetAcceleration(Config.MOTOR_Y_ACCELERATION);
}
public void MoveStraightToOffset(Point offset)
{
ResetMotorParameters();
float diffX = (float)Math.Abs(StepperX.CurrentPosition() - offset.X);
float diffY = (float)Math.Abs(StepperY.CurrentPosition() - offset.Y);
if (diffX > 0 && diffY > 0)
{
float newAccelY = Config.MOTOR_Y_ACCELERATION;
float newAccelX = Config.MOTOR_X_ACCELERATION;
long minMaxSpeed = (long)Math.Min(Config.MOTOR_X_MAX_SPEED, Config.MOTOR_Y_MAX_SPEED);
StepperX.SetMaxSpeed(minMaxSpeed);
StepperY.SetMaxSpeed(minMaxSpeed);
// We need to move more in the X direction than Y, so Y accel will be slower than X accel
if (diffX > diffY)
{
if (Config.MOTOR_Y_ACCELERATION < Config.MOTOR_X_ACCELERATION)
{
newAccelY = diffY / diffX * Config.MOTOR_X_ACCELERATION;
if (newAccelY > Config.MOTOR_Y_ACCELERATION)
{
newAccelX = Config.MOTOR_X_ACCELERATION * (Config.MOTOR_Y_ACCELERATION / newAccelY);
newAccelY = Config.MOTOR_Y_ACCELERATION;
}
}
else
{
newAccelY = diffY / diffX * Config.MOTOR_X_ACCELERATION;
newAccelX = Config.MOTOR_X_ACCELERATION;
}
}
// We need to move more in the Y direction, so X accel will be slower than Y accel
else
{
if (Config.MOTOR_Y_ACCELERATION < Config.MOTOR_X_ACCELERATION)
{
newAccelX = diffX / diffY * Config.MOTOR_Y_ACCELERATION;
newAccelY = Config.MOTOR_Y_ACCELERATION;
}
else
{
newAccelX = diffX / diffY * Config.MOTOR_Y_ACCELERATION;
if (newAccelX > Config.MOTOR_X_ACCELERATION)
{
newAccelY = Config.MOTOR_Y_ACCELERATION * (Config.MOTOR_X_ACCELERATION / newAccelX);
newAccelX = Config.MOTOR_X_ACCELERATION;
}
}
}
StepperX.SetAcceleration(newAccelX);
StepperY.SetAcceleration(newAccelY);
}
MoveToOffset(offset);
}
private void LimitSwitchPin_Y1_ValueChanged(GpioPin sender, GpioPinValueChangedEventArgs args)
{
// At Y0
if (args.Edge == GpioPinEdge.FallingEdge)
{
StepperY.SetCurrentPosition(0);
}
}
private void LimitSwitchPin_Y2_ValueChanged(GpioPin sender, GpioPinValueChangedEventArgs args)
{
// At YMax
if (args.Edge == GpioPinEdge.FallingEdge)
{
StepperY.SetCurrentPosition(Config.MAX_MALLET_OFFSET_Y);
}
}
public void MoveMotorsToZero()
{
stop = false;
long moveSpeed = (long)Config.DEFAULT_MOVE_SPEED;
StepperX.Speed = moveSpeed;
StepperY.Speed = moveSpeed;
while (LimitSwitchPin_X1.Read() == GpioPinValue.High || LimitSwitchPin_Y1.Read() == GpioPinValue.High)
{
if (LimitSwitchPin_X1.Read() == GpioPinValue.High)
{
StepperX.Move(-10);
StepperX.RunSpeed();
}
if (LimitSwitchPin_Y1.Read() == GpioPinValue.High)
{
StepperY.Move(-10);
StepperY.RunSpeed();
}
if (stop)
{
return;
}
}
StepperX.SetCurrentPosition(0);
StepperY.SetCurrentPosition(0);
LimitSwitchPin_X1.ValueChanged += LimitSwitchPin_X1_ValueChanged;
LimitSwitchPin_X2.ValueChanged += LimitSwitchPin_X2_ValueChanged;
LimitSwitchPin_Y1.ValueChanged += LimitSwitchPin_Y1_ValueChanged;
LimitSwitchPin_Y2.ValueChanged += LimitSwitchPin_Y2_ValueChanged;
}
public void MoveToOffset(Point offset)
{
StepperX.MoveTo((long)offset.X);
StepperY.MoveTo((long)offset.Y);
}
public Point GetOffsets()
{
return(new Point(StepperX.CurrentPosition(), StepperY.CurrentPosition()));
}
