private bool fastMove()
{
TimeSpan ts = befTime - DateTime.UtcNow;
//double ang = (motor.Angle - motor.BefAngle);
double diffAngle = DataEntity.GetTargetAngle() - MathHelperD.ToDegrees(MyMotor.Angle);
double rad = MathHelperD.ToRadians(diffAngle) / (-0.03);
if (DataEntity.GetVelocity() < Math.Abs(rad * 9.549))
{
MyMotor.TargetVelocityRPM = MathHelperD.ToDegrees(rad) < 0 ? DataEntity.GetVelocity() : -DataEntity.GetVelocity();
}
else
{
MyMotor.TargetVelocityRad = -(float)(rad / 2);
}
befTime = DateTime.UtcNow;
BefAngleDegree = MathHelperD.ToDegrees(MyMotor.Angle);
if (Math.Abs(MathHelperD.ToDegrees(MyMotor.Angle) - DataEntity.GetTargetAngle()) < 1)
{
MyMotor.TargetVelocityRad = 0;
return(true);
}
else
{
return(false);
}
}
private bool justMove()
{
TimeSpan ts = befTime - nowTime;
double ang = (MathHelperD.ToDegrees(MyMotor.Angle) - BefAngleDegree);
double diffAngle = DataEntity.GetTargetAngle() - (MathHelperD.ToDegrees(MyMotor.Angle));
double rad = MathHelperD.ToRadians(diffAngle) / ts.TotalSeconds;
if (diffAngle > rad)
{
MyMotor.TargetVelocityRPM = DataEntity.GetVelocity();
}
else
{
MyMotor.TargetVelocityRPM = (float)(diffAngle / (Math.PI * 2));
}
BefAngleDegree = MathHelperD.ToDegrees(MyMotor.Angle);
if ((MathHelperD.ToDegrees(MyMotor.Angle) - DataEntity.GetTargetAngle()) < 0.5)
{
MyMotor.TargetVelocityRad = 0;
return(true);
}
else
{
return(false);
}
}