/// <summary>
/// Calculate and applies next step voltage.
/// </summary>
/// <returns>returns true if next step voltage was applied,
/// returns false if max or min voltage was exceeded and last voltage remained. </returns>
public bool MoveSingleStep()
{
double oldVoltage = m_currentEMVoltage;
//
//Calculate next voltage to apply.
//the higher the voltage, the more we push the junction (up the voltage->down direction)
//
m_currentEMVoltage -= s_voltInterval*(int)m_direction;
//
// if exceedes max or min voltage, pause stepper and return false.
// else: move and return true.
//
if ( (Math.Abs(m_currentEMVoltage) > s_maxEMVoltage) || (m_currentEMVoltage < s_minEMVoltage) )
{
m_direction = StepperDirection.STATIC;
m_currentEMVoltage = oldVoltage;
return false;
}
else
{
AnalogOut(s_analogOutChannel, m_currentEMVoltage);
return true;
}
}
/// <summary>
/// Reach target voltage on EM.
/// </summary>
/// <param name="targetVoltage"></param>
public void ReachEMVoltageGradually(int delayTime, double targetVoltage)
{
//
// if the current voltage is different than the target
//
if (m_currentEMVoltage != targetVoltage)
{
//
// choose direction of motion according to where is the current voltage relative to the target
// notice: increase in voltage causes DOWN direction motion
//
m_direction = ((m_currentEMVoltage - targetVoltage) > 0) ? StepperDirection.UP : StepperDirection.DOWN;
//
// move until the difference between the current voltage and the target is below zero
//
if ((m_currentEMVoltage - targetVoltage) > 0)
{
while ((m_currentEMVoltage - targetVoltage) > 0)
{
//
//if EM voltage exceeded max value - break.
//
if (!MoveSingleStep())
{
return;
}
Thread.Sleep(delayTime);
}
}
else
{
while ((m_currentEMVoltage - targetVoltage) < 0)
{
//
//if EM voltage exceeded max value - break.
//
if (!MoveSingleStep())
{
return;
}
Thread.Sleep(delayTime);
}
}
}
}
public void Shutdown()
{
m_direction = StepperDirection.STATIC;
this.SetVoltage(0);
}
/// <summary>
/// Move steps by stepper motor with minDelay and Full mode, and shut it down afterwards.
/// </summary>
/// <param name="stepperDirection"></param>
/// <param name="numberOfSteps"></param>
private void MoveStepsByStepperMotor(StepperDirection stepperDirection, int numberOfSteps)
{
m_stepperMotor.Direction = stepperDirection;
m_stepperMotor.SteppingMode = StepperSteppingMode.FULL;
m_stepperMotor.Delay = m_stepperMotor.MinDelay;
m_stepperMotor.MoveMultipleSteps(numberOfSteps);
m_stepperMotor.Shutdown();
}
/// <summary>
/// Initializes a new instance of the <see cref="T:Eto.Forms.StepperEventArgs"/> class.
/// </summary>
/// <param name="direction">Direction of the step that the user clicked.</param>
public StepperEventArgs(StepperDirection direction)
{
Direction = direction;
}
public void StartMoving(StepperDirection dir, int nPos = 1)
{
string command = string.Format("move-{0}:{1}", (dir == StepperDirection.CW) ? "cw" : "ccw", nPos.ToString());
SendCommand(command, waitForReply: true, interimStatus: ArduinoStatus.Moving);
}
