/// <summary>
/// Converts the supplied targetFeedRate to a millisecond delay value to be used between step pulses, and a step resolution
/// </summary>
/// <param name="targetFeedRate">Desired Feed Rate in IPM</param>
/// <param name="resolution">Resulting feed rate to be used</param>
/// <returns>millisecond step pulse delay value to pass to the machine</returns>
public int CalculateStepDelayFromFeedRate(int targetFeedRate, out FeedRate.StepResolutions resolution)
{
//TODO: These need to be stored as settings with the ability to measure them and determine their values.. right now everything
// is hard coded from the charting of my manual trial and error
if (targetFeedRate > FeedRateMaximum) targetFeedRate = FeedRateMaximum;
if (targetFeedRate < 5) targetFeedRate = 5;
resolution = FeedRate.StepResolutions.Half; //TODO: We've calculated these all on half steps which seem to work great for the full range
// (Really making me wonder why I support changing resolutions)
if (targetFeedRate > 50) return LinearInterpolation(50, 17, targetFeedRate, 60, 9); // 51 to 60
if (targetFeedRate > 40) return LinearInterpolation(40, 28, targetFeedRate, 50, 17); // 41 to 50
if (targetFeedRate > 30) return LinearInterpolation(30, 42, targetFeedRate, 40, 28); // 31 to 40
if (targetFeedRate > 20) return LinearInterpolation(20, 80, targetFeedRate, 30, 42); // 21 to 30
if (targetFeedRate > 10) return LinearInterpolation(10, 170, targetFeedRate, 20, 80); // 11 to 20
if (targetFeedRate >= 5) return LinearInterpolation(5, 350, targetFeedRate, 10, 170); // 5 to 10
return 40; //Not used
}
private void SendStepResolution(FeedRate.StepResolutions resolution)
{
_resolution = resolution;
string resolutionCmd = "StepResolution:" + ((int)_resolution).ToString();
SendCommand(resolutionCmd);
}