public void MoveZRail(PrinterControl.StepperDir dir, int steps)
{
double secondsElapsed = 1;
double waitCounter = 0;
double waitTime;
for (int i = 0; i < steps; i++)
{
waitTime = (1 / (secondsElapsed * 4 * 400)) * 1000000;
if (waitTime < 70)
{
waitTime = 70;
}
printer.StepStepper(dir);
printer.WaitMicroseconds((long)waitTime);
waitCounter += (int)waitTime;
if (waitCounter >= 1000000)
{
secondsElapsed += 1;
waitCounter = 0;
}
}
}
public void MoveZrail(float millimeters, PrinterControl.StepperDir direction)
{
if (millimeters > 0)
{
var stepsToStep = Convert.ToInt32(millimeters * 400);
var delay = 0;
var totalDelay = 0;
var stepperSpeed = 1;
for (int i = 0; i != stepsToStep; i++)
{
totalDelay += delay;
if (totalDelay >= 1100000)
{
stepperSpeed = IncreaseStepperSpeed(stepperSpeed);
totalDelay = 0;
}
delay = CalculateStepperDelay(stepperSpeed);
printer.WaitMicroseconds(delay);
printer.StepStepper(direction);
}
}
}
public void StepOnce(PrinterControl.StepperDir dir)
{
// ResetSteps() must be called as soon as you are done using this function
waitTimeOnce = (1 / (secondsElapsedOnce * 4 * 400)) * 1000000;
if (waitTimeOnce < 70)
{
waitTimeOnce = 70;
}
printer.StepStepper(dir);
printer.WaitMicroseconds((long)waitTimeOnce);
waitCounterOnce += waitTimeOnce;
if (waitCounterOnce >= 1000000)
{
secondsElapsedOnce += 1;
waitCounterOnce = 0;
}
}
// Set the Z height of the platform - Zero is at the bottom, against the resin tray
void SetZ(float Z)
{
if (plateZ < 0)
{
RetractPlate();
}
float curZ = plateZ;
PrinterControl.StepperDir dir = PrinterControl.StepperDir.STEP_UP;
float diffZ = Z - curZ;
ResetAccelStepper();
if (diffZ < 0)
{
dir = PrinterControl.StepperDir.STEP_DOWN;
}
diffZ = Math.Abs(diffZ);
int numSteps = (int)(diffZ * PrinterControl.STEPS_PER_MM);
for (int i = 0; i < numSteps; i++)
{
printer.StepStepper(dir);
WaitForNextStep();
if (printer.LimitSwitchPressed())
{
break;
}
}
plateZ = Z;
}
public void movementWithSpeed(PrinterControl printer, PrinterControl.StepperDir dir, float distance)
{
float velocity = 0;
float distanceTraveled = 0;
while (currentLocation == -1 && !(printer.LimitSwitchPressed()))
{
velocity += Acceleration;
//Thread.Sleep(1000);
for (var i = 0; i < velocity; i++)
{
for (var j = 0; j < 400; j++)
{
if (printer.LimitSwitchPressed())
{
break;
}
printer.StepStepper(dir);
distanceTraveled += (float)(1.0 / 400);
}
if (printer.LimitSwitchPressed())
{
break;
}
}
//printer.StepStepper(dir);
}
if (((dir == PrinterControl.StepperDir.STEP_DOWN) && (currentLocation - distance > 0) && (!printer.LimitSwitchPressed() || (currentLocation != -1))))
{
while (distanceTraveled < distance)
{
if (velocity < maxVelocity && (velocity + Acceleration < maxVelocity))
{
velocity += Acceleration;
}
else if (velocity < maxVelocity && (maxVelocity - velocity < Acceleration)) //allows us to reach max velocity without overshooting
{
velocity = maxVelocity;
}
//Thread.Sleep(1000);
for (var i = 0; i < velocity; i++)
{
for (var j = 0; j < 400; j++)
{
if (distanceTraveled >= distance || (printer.LimitSwitchPressed() && (currentLocation == -1)))
{
break;
}
printer.StepStepper(dir);
distanceTraveled += (float)(1.0 / 400);
}
if (distanceTraveled >= distance || printer.LimitSwitchPressed())
{
break;
}
}/*
* if (distanceTraveled + velocity < distance) //if we wont over shoot
* {
* distanceTraveled += velocity;
* }
* else //this happens if we're close but the velocity will over shoot it should move the rest of the way without overshooting
* {
* //distanceTraveled += (velocity - distance);
* velocity = 0;
* }
*/
}
currentLocation -= distanceTraveled;
}
if ((dir == PrinterControl.StepperDir.STEP_UP) && currentLocation + distance < 100 && !printer.LimitSwitchPressed())
{
while (distanceTraveled < distance)
{
if (velocity < maxVelocity && (velocity + Acceleration < maxVelocity))
{
velocity += Acceleration;
}
else if (velocity < maxVelocity && (maxVelocity - velocity < Acceleration))
{
velocity = maxVelocity;
}
// Thread.Sleep(1000);
for (var i = 0; i < velocity; i++)
{
for (var j = 0; j < 400; j++)
{
if (distanceTraveled >= distance || printer.LimitSwitchPressed())
{
break;
}
printer.StepStepper(dir);
distanceTraveled += (float)(1.0 / 400);
}
if (distanceTraveled >= distance || printer.LimitSwitchPressed())
{
break;
}
}
}
currentLocation += distanceTraveled;
}
}
