public void moveStepperToTop()
{
try
{
double currentMicrosecondWait = 630;
double currentWait = 0;
while (printer.LimitSwitchPressed() == false)
{
bool printerStepped = printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
if (!printerStepped && !printer.LimitSwitchPressed())
{
throw new Exception("printer step failed, speed is wrong?");
}
printer.WaitMicroseconds((long)currentMicrosecondWait);
currentWait += currentMicrosecondWait;
if (currentWait > 1000 && currentMicrosecondWait > 69)
{
currentMicrosecondWait -= .06;
currentWait = 0;
}
}
Console.WriteLine("Limit switch pressed?");
}
catch (Exception e)
{
System.Console.WriteLine(e.StackTrace);
}
}
void RetractPlate()
{
ResetAccelStepper();
while (!printer.LimitSwitchPressed())
{
if (!printer.StepStepper(PrinterControl.StepperDir.STEP_UP))
{
break;
}
WaitForNextStep();
}
plateZ = printer.GetPrinterHeight();
}
public void ResetZRail()
{
while (!printer.LimitSwitchPressed())
{
printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
}
for (int i = 0; i < 39800; i++)
{
printer.StepStepper(PrinterControl.StepperDir.STEP_DOWN);
}
}
public void ToLimit()
{
var switch_pressed = printer.LimitSwitchPressed();
var delay = 0;
var stepperSpeed = 1;
var totalDelay = 0; //Too keep track of the number of uS before increasing speed.
while (switch_pressed != true)
{
totalDelay += delay;
if (totalDelay >= 1010000)
{
stepperSpeed = IncreaseStepperSpeed(stepperSpeed);
totalDelay = 0;
}
delay = CalculateStepperDelay(stepperSpeed);
printer.WaitMicroseconds(delay);
printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
switch_pressed = printer.LimitSwitchPressed();
}
}
//Since the build plate starts at a random point every time, this function moves it all the way up until
//the limit switch is pressed. It then steps down 40000 (calculated from datasheet) which will put it at the home position.
public void SetBuildPlateHome()
{
while (printer.LimitSwitchPressed() != true)
{
zRailController.StepOnce(PrinterControl.StepperDir.STEP_UP);
}
zRailController.ResetSteps();
Console.WriteLine("Build plate is at top and will now move to bottom");
zRailController.MoveZRail(PrinterControl.StepperDir.STEP_DOWN, 40000);
return;
}
public void GoToLimitSwitch()
{
double currentDelay = 625;
double microsecondsPassed = 0;
while (printer.LimitSwitchPressed() == false)
{
printer.StepStepper(PrinterControl.StepperDir.STEP_UP);
printer.WaitMicroseconds((long)currentDelay);
microsecondsPassed = microsecondsPassed + currentDelay;
if (microsecondsPassed > 1000000L)
{
currentDelay = currentDelay - 60;
if (currentDelay < 70)
{
currentDelay = 70;
}
microsecondsPassed = 0;
}
}
}
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;
}
}
