/// <summary>
/// Move Azm axis with fixed or variable rate
/// </summary>
/// <param name="rate">Rate (deg/sec) or fixed rate * 10</param>
/// <param name="isFixed"></param>
public void MoveAxis(SlewAxes axis, double rate, bool isFixed = false)
{
if (!rate.Equals(0))
{
if (!isFixed)
{
this.ti.SlewHighRate(axis, rate);
}
else
{
this.ti.SlewFixedRate(axis, (int)rate);
}
}
}
public override void SlewVariableRate(SlewAxes axis, double rate)
{
var r = (int)Math.Abs(rate*4*3600);
var devId = this.GetDeviceId(axis);
//var com = new byte[] { (byte)'P', 3, devId, (byte)dir, (byte) (r/256), (byte) (r%256), 0, 0 };
//SendBytes(com);
var command = rate < 0 ? DeviceCommands.MC_SET_NEG_VARIABLE_GUIDERATE : DeviceCommands.MC_SET_POS_VARIABLE_GUIDERATE;
this.SendCommandToDevice(devId, command, 0, (byte) (r/256), (byte) (r%256));
}
public override void SlewHighRate(SlewAxes axis, double rate)
{
var r = Math.Abs((long)(rate*3600*1024));
var h = (byte) ((r/0x10000) & 0xff);
var m = (byte) ((r/0x100) & 0xff);
var l = (byte) (r & 0xff);
var devId = this.GetDeviceId(axis);
var command = rate < 0 ? DeviceCommands.MC_SET_NEG_VARIABLE_GUIDERATE : DeviceCommands.MC_SET_POS_VARIABLE_GUIDERATE;
this.SendCommandToDevice(devId, command, 0, h, m, l);
}
public override void SlewFixedRate(SlewAxes axis, int rate)
{
var r = (byte)Math.Abs(rate);
if (r > 9) throw new Exception("Wrong parameter");
var devId = this.GetDeviceId(axis);
var command = rate < 0 ? DeviceCommands.MC_SET_NEG_FIXED_GUIDERATE : DeviceCommands.MC_SET_POS_FIXED_GUIDERATE;
//var com = new byte[] { (byte)'P', 2, DevId, (byte)dir, (byte)rate, 0, 0, 0 };
this.SendCommandToDevice(devId, command, 0, r);
}
private void moveAxis(SlewAxes axis, double rate, bool isFixed = false)
{
this.CheckPark();
if (this.telescopeMode != TelescopeMode.Normal && this.telescopeMode != TelescopeMode.MovingAxis) return;
this.tp.IsAtHome = false;
if (axis == SlewAxes.DecAlt) this.tp.MovingAltAxes = !rate.Equals(0);
if (axis == SlewAxes.RaAzm) this.tp.MovingAzmAxes = !rate.Equals(0);
if (!rate.Equals(0))
{
if (axis == SlewAxes.RaAzm)
{
if (this.telescopeMode != TelescopeMode.MovingAxis)
this.moveAxisTrackingMode = this.tp.TrackingMode;
this.checkRateTrackingState();
//SetTracking(TrackingMode.Off);
//tp.TrackingMode = TrackingMode.Off;
}
this.two.MoveAxis(axis, rate, isFixed);
this.telescopeMode = TelescopeMode.MovingAxis;
}
else // rate == 0
{
if (axis == SlewAxes.RaAzm)
{
this.setTrackingRate(this.tp.TrackingRate, this.moveAxisTrackingMode);
this.tp.TrackingMode = this.moveAxisTrackingMode;
}
else
{
this.setTrackingDec();
}
if (!this.tp.MovingAltAxes && !this.tp.MovingAzmAxes)
{
this.telescopeMode = TelescopeMode.Normal;
}
}
}
/// <summary>
/// MoveAxis with fixed or variable rate
/// </summary>
/// <param name="axis">SlewAxes</param>
/// <param name="rate">Rate (deg/sec) or fixed rate * 10</param>
/// <param name="isFixed"></param>
public void MoveAxis(SlewAxes axis, double rate, bool isFixed = false)
{
lock (_sync)
{
moveAxis(axis, rate, isFixed);
}
}
