private static void RunUsingSleep(
IStepDrive stepper, int stepsPerMinute, int pauseBetweenStepsInMs)
{
// Save "now":
DateTime lastTime = DateTime.UtcNow;
while (true)
{
// Compute the next time at which the stepper must work:
// For demo purposes, you can use one step per second, for example:
// DateTime nextTime = lastTime.AddSeconds(1.0);
DateTime nextTime = lastTime.AddMinutes(1.0);
// Wait the correct time, avoiding cumulative errors:
Thread.Sleep((int)((nextTime - DateTime.UtcNow).Ticks / TimeSpan.TicksPerMillisecond));
// Let the stepper do its job to turn the clock:
stepper.MoveSteps(stepsPerMinute, pauseBetweenStepsInMs);
// Set this time as the base for the next period:
lastTime = nextTime;
// Let the stepper turn freely, save power, and make not even a silent noise caused by PWM:
stepper.ReleaseHoldingTorque();
}
}
/// <summary>
/// Runs a mechanical clock by turning a stepper motor periodically.
/// </summary>
/// <param name="stepper">The stepper to drive.</param>
/// <param name="stepsPerMinute">The number of steps that the stepper shall perform each minute. This may be any
/// positive or negative non-null number and depends on the mechanical implementation of the actual clock.</param>
/// <param name="pauseBetweenStepsInMs">The number of milliseconds to wait between stepper steps. Set this
/// parameter depending on the mechanical implementation.</param>
public static void Run(IStepDrive stepper, int stepsPerMinute, int pauseBetweenStepsInMs)
{
if (stepper == null)
{
throw new ArgumentNullException(nameof(stepper));
}
if (stepsPerMinute == 0)
{
throw new ArgumentOutOfRangeException(nameof(stepsPerMinute));
}
// Variant 1: Sleep a minute, turn the stepper, sleep again:
// RunUsingSleep(stepper, stepsPerMinute, pauseBetweenStepsInMs);
// Variant 2: Use a timer fireing each minute:
RunUsingTimer(stepper, stepsPerMinute, pauseBetweenStepsInMs);
}
/// <summary>
/// Let a stepper turn randomly.
/// </summary>
/// <param name="stepper"></param>
public static void Run(IStepDrive stepper)
{
if (stepper == null)
{
throw new ArgumentNullException(nameof(stepper));
}
var random = new Random();
const int steps = 200;
while (true)
{
stepper.MoveSteps(random.Next(steps * 2 + 1) - steps, 0);
stepper.ReleaseHoldingTorque();
Thread.Sleep(1000);
}
}
private static void RunUsingTimer(
IStepDrive stepper, int stepsPerMinute, int pauseBetweenStepsInMs)
{
// Do steps each minute, that is, every 60000 milliseconds:
var timer = new Timer(
(state) =>
{
stepper.MoveSteps(stepsPerMinute, pauseBetweenStepsInMs);
stepper.ReleaseHoldingTorque();
},
null,
60000,
60000);
// Sleep and let the timer do its job:
for (; ;)
{
Thread.Sleep(1000);
}
}