public void RotateTurret(int steps)
{
const int delayMs = 3;
Log.Info("RunStepper({0},{1})", steps, delayMs);
var stepperCommand = new StepperCommand(steps, delayMs);
PiController.Instance.SendStepCommand(stepperCommand);
}
public void SendStepCommand(StepperCommand stepperCommand)
{
PwmController.Command(stepperCommand);
}
public void Command(StepperCommand command)
{
Log.InfoFormat("StepperCommand received({0})!", command);
Stepper.StepDelayMs = command.DelayMs;
Stepper.Rotate(command.Steps);
}
public void SendStepCommand(StepperCommand stepperCommand)
{
Clients.All.SendSteppercommand(stepperCommand);
}