/// <summary>
/// Raises an event when the edge finder is being used to report the coordinate where the specified axis touched the finder.
/// This event passes the number of inches from the machine origin where the finder was touched.
/// </summary>
private void RaiseTouchedAtEvent(string responseText)
{
if (OnEdgeTouched == null)
{
return;
}
var coordinate = responseText.Split(':');
if (coordinate.Length < 2)
{
return;
}
// Machine stores all coordinates as 8 microsteps per full step regardless of the current resolution
double touchedAt = (Convert.ToInt32(coordinate[1]) / 8) / (double)_axisFindingEdgeFor.FullStepsPerInch();
OnEdgeTouched(touchedAt);
}
public void FindEdge(string axis)
{
//NOTE: As we are obviously hard coding the resolution, the speed calculations wouldn't work if we ever changed
// resolution or if the speed calculations returned a different resolution. I don't forsee doing this, but just be careful in case.
SendStepResolution(FeedRate.StepResolutions.Half);
_axisFindingEdgeFor = Settings.GetAxisSettings(axis);
FeedRate.StepResolutions resolution;
int slowSpeed = Settings.CalculateStepDelayFromFeedRate(20, out resolution);
// Back off of the finder by 1/4 inch (maybe this should be a setting too?)
int backoffSpeed = Settings.CalculateStepDelayFromFeedRate(30, out resolution);
int backoffSteps = _axisFindingEdgeFor.FullStepsPerInch() * (int)_resolution / 4;
EnableStepperDrivers(true);
SendCommand(string.Format("FINDEDGE:{0},{1},{2},{3}", axis, slowSpeed, backoffSteps, backoffSpeed));
EnableStepperDrivers(false);
}
public void FindEdge(string axis)
{
//NOTE: As we are obviously hard coding the resolution, the speed calculations wouldn't work if we ever changed
// resolution or if the speed calculations returned a different resolution. I don't forsee doing this, but just be careful in case.
SendStepResolution(FeedRate.StepResolutions.Half);
_axisFindingEdgeFor = Settings.GetAxisSettings(axis);
FeedRate.StepResolutions resolution;
int slowSpeed = Settings.CalculateStepDelayFromFeedRate(20, out resolution);
// Back off of the finder by 1/4 inch (maybe this should be a setting too?)
int backoffSpeed = Settings.CalculateStepDelayFromFeedRate(30, out resolution);
int backoffSteps = _axisFindingEdgeFor.FullStepsPerInch() * (int)_resolution / 4;
EnableStepperDrivers(true);
SendCommand(string.Format("FINDEDGE:{0},{1},{2},{3}", axis, slowSpeed, backoffSteps, backoffSpeed));
EnableStepperDrivers(false);
}