/// <summary>
/// Creates the plan connecting coordinates constant speed without acceleration.
/// </summary>
/// <param name="trajectory">Trajectory which plan will be created.</param>
/// <returns>The created plan.</returns>
public PlanBuilder CreateConstantPlan(Trajectory4D trajectory)
{
var planBuilder = new PlanBuilder();
iterateDistances(trajectory, (p, x, y) => planBuilder.AddConstantSpeedTransitionXY(x, y, _transitionSpeed));
return(planBuilder);
}
public void SetPosition(int newPosition)
{
var steps = newPosition - _currentPosition;
var builder = new Planning.PlanBuilder();
//builder.AddRampedSteps(steps, Constants.FastestDeltaT);
builder.AddConstantSpeedTransitionXY(steps, steps, Configuration.ReverseSafeSpeed);
builder.DuplicateXYtoUV();
_cnc.SEND(builder.Build());
//position setting is blocking for now
while (_cnc.IncompleteInstructionCount > 0)
{
System.Threading.Thread.Sleep(1);
}
_currentPosition = newPosition;
}
