private async Task calibrateAndRetry(IGridMotorMover mover, int previousPos, int desiredGridPos)
{
bool magnetWasOn = magnet.IsOn;
if (magnetWasOn)
{
magnet.TurnOff();
}
await mover.CalibrateAsync(desiredGridPos > previousPos?MoveDirection.Backward : MoveDirection.Forward);
try
{
await mover.GoToPositionAsync(previousPos);
}
catch (CalibrationException)
{
System.Diagnostics.Debug.WriteLine("Threw another CalibrationException on move despite recalibrating.");
}
if (magnetWasOn)
{
magnet.TurnOn();
}
try
{
await mover.GoToPositionAsync(desiredGridPos);
}
catch (CalibrationException)
{
System.Diagnostics.Debug.WriteLine("Threw another CalibrationException on move despite recalibrating.");
}
}
private async Task tryToMoveAsync(IGridMotorMover mover, int desiredGridPosition)
{
var previousPosition = mover.GridPosition;
try
{
await mover.GoToPositionAsync(desiredGridPosition);
}
catch (CalibrationException)
{
await calibrateAndRetry(mover, previousPosition, desiredGridPosition);
}
}