public string FindEdge(int delaySlow, int backoffCount, int backoffDelay, Axis axisToFindEdgeFor)
{
// X and Y move towards home to find their edges, Z moves away from home (towards bed)
axisToFindEdgeFor.StepDirection = axisToFindEdgeFor.ID == "Z" ? true : false;
while (true)
{
if (Program.EStopCondition) return "";
// Use Z Limit pin regardless of axis we're finding the edge for
if (AxisZ.IsAtLimit()) break;
axisToFindEdgeFor.Step();
DelayBy(delaySlow);
}
int edgeFoundAt = axisToFindEdgeFor.Location;
axisToFindEdgeFor.StepDirection = !axisToFindEdgeFor.StepDirection;
for (int i = 0; i < backoffCount; i++)
{
axisToFindEdgeFor.Step();
DelayBy(backoffDelay);
}
AxisZ.ResetLimitReached();
return "Edge touched at: " + edgeFoundAt.ToString();
}
public string FindEdge(int delaySlow, int backoffCount, int backoffDelay, Axis axisToFindEdgeFor)
{
bool wasIgnoringLimits = IgnoreLimitSwitches;
IgnoreLimitSwitches = false;
// X and Y move towards home to find their edges, Z moves away from home (towards bed)
axisToFindEdgeFor.StepDirection = axisToFindEdgeFor.ID == "Z" ? true : false;
while (true)
{
if (Program.EStopCondition)
{
return("");
}
// Use Z Limit pin regardless of axis we're finding the edge for
if (AxisZ.IsAtLimit())
{
break;
}
axisToFindEdgeFor.Step();
DelayBy(delaySlow);
}
int edgeFoundAt = axisToFindEdgeFor.Location;
axisToFindEdgeFor.StepDirection = !axisToFindEdgeFor.StepDirection;
for (int i = 0; i < backoffCount; i++)
{
axisToFindEdgeFor.Step();
DelayBy(backoffDelay);
}
AxisZ.ResetLimitReached();
IgnoreLimitSwitches = wasIgnoringLimits;
return("Edge touched at: " + edgeFoundAt.ToString());
}
public void StartJogMode()
{
double jogX;
double jogXAmount;
double jogXDelays = 0;
double jogY;
double jogYAmount;
double jogYDelays = 0;
while (this.JogMode != JogModeType.None)
{
if (jogXDelays == 0)
{
jogX = ExternalDevices.JogXPort.Read();
jogXAmount = System.Math.Abs(jogX);
if (jogXAmount < 8)
{
jogXAmount = 0;
}
if (jogXAmount > 40)
{
jogXAmount = 50;
}
jogXDelays = 51 - jogXAmount;
if (jogXAmount > 0)
{
Axis axis = AxisX;
if (JogMode == JogModeType.YZ)
{
axis = AxisZ; // Z moves instead of X
}
axis.StepDirection = jogX > 0;
axis.Step();
}
}
jogXDelays--;
if (jogYDelays == 0)
{
jogY = -ExternalDevices.JogYPort.Read();
jogYAmount = System.Math.Abs(jogY);
if (jogYAmount < 8)
{
jogYAmount = 0;
}
if (jogYAmount > 40)
{
jogYAmount = 50;
}
jogYDelays = 51 - jogYAmount;
if (jogYAmount > 0)
{
Axis axis = AxisY;
if (JogMode == JogModeType.XZ)
{
axis = AxisZ; // Z moves instead of Y
}
axis.StepDirection = jogY > 0;
axis.Step();
}
}
jogYDelays--;
}
}