private double TouchAndFindPressureSensor(double touchPointHeight, int timeoutSec = 60)
{
double needleHeight = 0;
//Max down 0.5mm
touchPointHeight -= 0.5;
_mc.MoveToTarget(MotorZ, touchPointHeight);
var stopwatch = new Stopwatch();
stopwatch.Start();
do
{
//if (_mc.IsMoving(MotorZ) == false)
//{
// _mc.MoveToTargetRelative(MotorZ, -0.1);
// if (GetPosition(MotorZ)<=touchPointHeight)
// {
// throw new Exception("Find needle height timeout, maybe need to lower sensor: " + _coordinateId);
// }
//}
if (GetPressureValue() > NeedleTouchPressure)
{
_mc.Stop(MotorZ);
Delay(800);
needleHeight = _mc.GetPosition(MotorZ) + NeedleOnZHeightCompensation;
SetSpeed(1);
_mc.MoveToTargetRelativeTillEnd(MotorZ, 2);
return(needleHeight);
}
if (stopwatch.ElapsedMilliseconds > timeoutSec * 1000)
{
throw new Exception("Find needle height timeout, maybe need to lower sensor: " + _coordinateId);
}
} while (true);
}
/// <summary>
/// Get motor encoder position or reference position of motors.
/// </summary>
/// <param name="motor"></param>
/// <returns></returns>
public double GetPosition(Motor motor)
{
return(_mc.GetPosition(motor));
}