/// <summary>
/// Traverses axis in a full range several times.
/// </summary>
public static PlanBuilder BackAndForwardAxisTraversal()
{
var traverseDelta = 400;
var builder = new PlanBuilder();
for (var i = 0; i < 30; ++i)
{
var distance = Constants.MaxStepsX;
var acceleration = Coord2DController.CreateAcceleration(Constants.StartDeltaT, traverseDelta)[0];
var deceleration = Coord2DController.CreateAcceleration(traverseDelta, Constants.StartDeltaT)[0];
distance -= Math.Abs(acceleration.StepCount);
distance -= Math.Abs(deceleration.StepCount);
if (i % 2 == 0)
{
builder.AddXY(acceleration, null);
builder.AddConstantSpeedTransitionXY(distance, 0, Speed.FromDeltaT(traverseDelta));
builder.AddXY(deceleration, null);
}
else
{
builder.AddXY(acceleration.WithReversedDirection(), null);
builder.AddConstantSpeedTransitionXY(-distance, 0, Speed.FromDeltaT(traverseDelta));
builder.AddXY(deceleration.WithReversedDirection(), null);
}
}
builder.ChangeXYtoUV();
return(builder);
}