/// <summary> /// Creates the plan connecting coordinates constant speed without acceleration. /// </summary> /// <param name="trajectory">Trajectory which plan will be created.</param> /// <returns>The created plan.</returns> public PlanBuilder CreateConstantPlan(Trajectory4D trajectory) { var planBuilder = new PlanBuilder(); iterateDistances(trajectory, (p, x, y) => planBuilder.AddConstantSpeedTransitionXY(x, y, _transitionSpeed)); return(planBuilder); }
public void SetPosition(int newPosition) { var steps = newPosition - _currentPosition; var builder = new Planning.PlanBuilder(); //builder.AddRampedSteps(steps, Constants.FastestDeltaT); builder.AddConstantSpeedTransitionXY(steps, steps, Configuration.ReverseSafeSpeed); builder.DuplicateXYtoUV(); _cnc.SEND(builder.Build()); //position setting is blocking for now while (_cnc.IncompleteInstructionCount > 0) { System.Threading.Thread.Sleep(1); } _currentPosition = newPosition; }