public void GetEncoderCounts()
{
StepperController sc = new StepperController(IP);
sc.EnableMotor();
//sc.ResetEncoderPosition(0);
sc.SetFormatDecimal();
sc.StartListening();
sc.GetEncoderCounts();
sc.GetEncoderPosition();
Thread.Sleep(100);
Debug.Print($"Encoder position= {sc.Sm.EncoderPosition}");
Debug.Print($"Encoder counts= {sc.Sm.EncoderCounts}");
sc.StartJog(5, 5, 5);
Thread.Sleep(1000);
sc.StopJog();
sc.GetEncoderPosition();
sc.GetEncoderCounts();
Thread.Sleep(2000);
double newCounts = sc.Sm.EncoderCounts;
double newPosition = sc.Sm.EncoderPosition;
Debug.Print($"Encoder position= {sc.Sm.EncoderPosition}");
Debug.Print($"Encoder counts= {sc.Sm.EncoderCounts}");
Thread.Sleep(1000);
Assert.AreEqual(sc.Sm.EncoderPosition, newPosition);
Assert.AreEqual(sc.Sm.EncoderCounts, newCounts);
Thread.Sleep(1000);
sc.StopListening();
sc.Dispose();
}
