public YAxis(IDriveSettingRepository driveSettingRepository, IEmergencyStop emergencyStop, IGpioControllerFacade gpioControllerFacade)
: base(driveSettingRepository, emergencyStop)
{
var drivePins = new DrivePins
{
EnablePin = 22,
DirectionPin = 5,
StepPin = 6,
ReferenceSwitchPin = 21
};
_stepperDriveControl = new StepperDriveControl(drivePins, gpioControllerFacade);
_defaultDriveSetting = new DriveSetting
{
DriveName = Name,
MaxSpeed = new Speed(80, SpeedUnit.MillimeterPerSecond),
Acceleration = new Acceleration(80, AccelerationUnit.MillimeterPerSecondSquared),
SpindlePitch = new Length(8, LengthUnit.Millimeter),
StepsPerRevolution = 400,
SoftwareLimitMinus = new Length(0.1, LengthUnit.Millimeter),
SoftwareLimitPlus = new Length(141.1, LengthUnit.Millimeter),
ReverseDirection = false,
ReferenceDrivingDirection = DrivingDirection.Negative,
ReferencePosition = new Length(0, LengthUnit.Millimeter),
ReferenceDrivingSpeed = new Speed(3.5, SpeedUnit.MillimeterPerSecond)
};
}
protected AbstractAxis(IDriveSettingRepository driveSettingRepository, IEmergencyStop emergencyStop)
{
(_driveSettingRepository, _emergencyStop) = (driveSettingRepository, emergencyStop);
_stopDrivingTokenSource = new CancellationTokenSource();
_currentStatus = new BehaviorSubject <Status>(emergencyStop.EmergencyStopPressed ? Status.Error : Status.NotReady);
_drivingTask = Task.Run(() =>
{
// just to intialize the member, so no exception is thrown when emergency stop is pressed
});
_emergencyStop.EmergencyStopPressedChanged += EmergencyStopPressedChanged;
}
public TestingController(IDriveSettingRepository driveSettingRepository, IEmergencyStop emergencyStop)
{
_driveSettingsRepo = driveSettingRepository;
_emergencyStop = emergencyStop;
}
