public static void Main()
{
//FanTacho.Intialize(Cpu.Pin.GPIO_Pin13);//not working dont use
X = new Axis("X", Pins.GPIO_PIN_D11, Pins.GPIO_PIN_D4, Pins.GPIO_PIN_D3);
Y = new Axis("Y", Pins.GPIO_PIN_D9, Pins.GPIO_PIN_D8, Pins.GPIO_PIN_A1);
Z = new Axis("Z", Pins.GPIO_PIN_D7, Pins.GPIO_PIN_D6, Pins.GPIO_PIN_A2);
ExternalDevices = new Devices(Pins.GPIO_PIN_A4, Pins.GPIO_PIN_A3, Pins.GPIO_NONE);
X.OnAxisLimitReached += OnAxisLimitReached;
Y.OnAxisLimitReached += OnAxisLimitReached;
Z.OnAxisLimitReached += OnAxisLimitReached;
EStopButton.OnInterrupt += EStopButton_OnPress;
EnableSteppers(false); // don't drive the stepper coils while idle
SetStepResolution("2"); // half stepping by default
ServoZTemp.Angle = 10; // raise the sharpie on reboot
Controller = new MotionController(X, Y, Z, ExternalDevices);
var socketServer = new SocketServer();
socketServer.OnRequest += SocketServer_OnRequest;
BlinkLED(3, false); // Visual "Ready" Cue
// Boot up in E-Stop mode to require an initializing communication from the controller UI
SetEStop();
socketServer.ListenForRequest();
}
public string FindEdge(int delaySlow, int backoffCount, int backoffDelay, Axis axisToFindEdgeFor)
{
// X and Y move towards home to find their edges, Z moves away from home (towards bed)
axisToFindEdgeFor.StepDirection = axisToFindEdgeFor.ID == "Z" ? true : false;
while (true)
{
if (Program.EStopCondition) return "";
// Use Z Limit pin regardless of axis we're finding the edge for
if (AxisZ.IsAtLimit()) break;
axisToFindEdgeFor.Step();
DelayBy(delaySlow);
}
int edgeFoundAt = axisToFindEdgeFor.Location;
axisToFindEdgeFor.StepDirection = !axisToFindEdgeFor.StepDirection;
for (int i = 0; i < backoffCount; i++)
{
axisToFindEdgeFor.Step();
DelayBy(backoffDelay);
}
AxisZ.ResetLimitReached();
return "Edge touched at: " + edgeFoundAt.ToString();
}
public MotionController(Axis axisX, Axis axisY, Axis axisZ, Devices externalDevices)
{
//TODO: Eliminate all references to Program.x - make sure all dependancies are injected
AxisX = axisX;
AxisY = axisY;
AxisZ = axisZ;
ExternalDevices = externalDevices;
}
private static void OnAxisLimitReached(Axis sender)
{
if (!IsHoming) SetEStop(true);
}
