public void TestMovementTwoPin(Direction direction)
{
var pin1 = new Mock <IGpioPin>();
var pin2 = new Mock <IGpioPin>();
Assert.Throws <Exception>(() =>
new StepperMotor(0, pin1.Object, pin2.Object));
var stepper = new StepperMotor(200, pin1.Object, pin2.Object);
stepper.Move(1, direction);
if (direction == Direction.Clockwise)
{
pin1.VerifySet(x => x.PinValue = false, Times.Exactly(1));
pin2.VerifySet(x => x.PinValue = true, Times.Exactly(1));
}
else
{
pin1.VerifySet(x => x.PinValue = false, Times.Exactly(1));
pin2.VerifySet(x => x.PinValue = false, Times.Exactly(1));
}
stepper.Move(1, direction);
if (direction == Direction.Clockwise)
{
pin1.VerifySet(x => x.PinValue = true, Times.Exactly(1));
pin2.VerifySet(x => x.PinValue = true, Times.Exactly(2));
}
else
{
pin1.VerifySet(x => x.PinValue = true, Times.Exactly(1));
pin2.VerifySet(x => x.PinValue = false, Times.Exactly(2));
}
}
private object SetStepperPosition(object [] arguments)
{
string id = (string)arguments[0];
double position = Convert.ToDouble(arguments[1]);
bool? right = null;
if (arguments.Length > 2)
{
int r = Convert.ToInt32(arguments[2]);
if (r < 0)
{
right = false;
}
else if (r > 0)
{
right = false;
}
}
int?speed = 10;
if (arguments.Length > 3)
{
speed = Convert.ToInt32(arguments[3]);
}
StepperMotor motor = GetMotor(id);
motor.SetPosition(position, null, right, speed);
return(true);
}
public void TestMovementTiming(int revsPerMinute)
{
var pin1 = new Mock <IGpioPin>();
var pin2 = new Mock <IGpioPin>();
var stepper = new StepperMotor(200, pin1.Object, pin2.Object);
var timer = new Stopwatch();
timer.Start();
stepper.SetSpeed(revsPerMinute);
var expectedDelay = revsPerMinute == 10 ? 30 : 15;
stepper.Move(1, Direction.Clockwise);
var elapsed1 = timer.ElapsedMilliseconds;
Assert.InRange(elapsed1, 0, expectedDelay);
stepper.Move(1, Direction.Clockwise);
var elapsed2 = timer.ElapsedMilliseconds;
Assert.InRange(elapsed2, elapsed1 + expectedDelay - 1, elapsed1 + 35);
stepper.Move(10, Direction.Clockwise);
var elapsed3 = timer.ElapsedMilliseconds;
Assert.InRange(elapsed3, elapsed2 + expectedDelay * 10 - 1, elapsed2 + expectedDelay * 10 + 5);
stepper.Move(5, Direction.Anticlockwise);
var elapsed4 = timer.ElapsedMilliseconds;
Assert.InRange(elapsed4, elapsed3 + 5 * expectedDelay - 1, elapsed3 + 5 * expectedDelay + 5);
}
/// <summary>
/// Initializes a new instance of the <see cref="DualAxisSequencer" /> class.
/// </summary>
/// <param name="firstAxis">The first axis.</param>
/// <param name="secondAxis">The second axis.</param>
public DualAxisSequencer(StepperMotor firstAxis, StepperMotor secondAxis)
{
this.firstAxis = firstAxis;
this.secondAxis = secondAxis;
firstAxis.MotorStopped += FirstAxisMotorStopped;
secondAxis.MotorStopped += SecondAxisMotorStopped;
}
private object ZeroStepper(object [] arguments)
{
string id = (string)arguments[0];
StepperMotor motor = GetMotor(id);
motor.Zero();
return(true);
}
/// <summary>
/// Handles the axis stopped event for an axis.
/// Picks a new random position and starts a new move.
/// </summary>
/// <param name="axis">The axis that has stopped.</param>
static void HandleAxisStoppedEvent(StepperMotor axis)
{
// Be careful, both axes appear to run on the same thread, so using Thread.Sleep() here will affect both.
//Thread.Sleep(3000); // Wait a short time before starting the next move.
var randomTarget = randomGenerator.Next(LimitOfTravel);
//Debug.Print("Starting move to " + randomTarget);
axis.MoveToTargetPosition(randomTarget);
}
private object SetPauseStepper(object [] arguments)
{
string id = (string)arguments[0];
bool pause = (bool)arguments[1];
StepperMotor motor = GetMotor(id);
motor.SetPause(pause);
return(true);
}
public void TestSpeedException()
{
var pin1 = new Mock <IGpioPin>();
var pin2 = new Mock <IGpioPin>();
var stepper = new StepperMotor(200, pin1.Object, pin2.Object);
Assert.Throws <Exception>(() => stepper.SetSpeed(-1));
Assert.Throws <Exception>(() => stepper.SetSpeed(0));
}
private StepperMotor GetMotor(string id)
{
StepperMotor result = null;
if (!_motors.TryGetValue(id, out result))
{
throw new Exception(string.Format("Brak silnika o identyfikatorze '{0}'.", id));
}
return(result);
}
// END CUT HERE
// BEGIN CUT HERE
public static void Main()
{
try {
StepperMotor ___test = new StepperMotor();
___test.run_test(-1);
} catch(Exception e) {
//Console.WriteLine(e.StackTrace);
Console.WriteLine(e.ToString());
}
}
private void InitializeStepperMotor()
{
stepperMotor = new StepperMotor(pwmDriver);
StepperRpm = stepperMotor.Rpm;
// Stepper motor test. Uncomment the following line to move stepper motor
// by 200 steps forward, and then backwards.
// StepperMotorTest(StepperMotorIndex.SM2, SteppingMode.FullSteps);
}
// END CUT HERE
// BEGIN CUT HERE
public static void Main()
{
try {
StepperMotor ___test = new StepperMotor();
___test.run_test(-1);
} catch (Exception e) {
//Console.WriteLine(e.StackTrace);
Console.WriteLine(e.ToString());
}
}
public Plotter(ILogger logger)
{
this.logger = logger;
syncDelay.Calibrate();
this.motorDriver = new PwmDriverPCA9685(logger, 0x60, 1600);
this.servoDriver = new PwmDriverPCA9685(logger, 0x41, 50);
this.motorX = new StepperMotor(logger, motorDriver, 1, 40);
this.motorY = new StepperMotor(logger, motorDriver, 2, 40);
this.servo = new Servo(logger, servoDriver);
}
public void TestDispose()
{
var pin1 = new Mock <IGpioPin>();
var pin2 = new Mock <IGpioPin>();
using (var stepper = new StepperMotor(200, pin1.Object, pin2.Object))
{
}
pin1.VerifySet(x => x.PinValue = false, Times.Once);
pin2.VerifySet(x => x.PinValue = false, Times.Once);
}
/// <summary>
/// Handles the axis stopped event for an axis. Picks a new random position and starts a
/// new move.
/// </summary>
/// <param name="axis">The axis that has stopped.</param>
static void HandleAxisStoppedEvent(StepperMotor axis)
{
// Be careful, both axes appear to run on the same thread, so using Thread.Sleep() here will affect both.
//Thread.Sleep(3000); // Wait a short time before starting the next move.
var randomTarget = randomGenerator.Next(LimitOfTravel);
if (axis is InstantaneousStepperMotor)
{
var distance = Math.Abs(randomTarget - axis.Position);
var targetSpeed = distance / 5.0; // Try to get there in 5 deconds.
axis.MaximumSpeed = targetSpeed > MaxSpeed ? MaxSpeed : targetSpeed;
}
//Debug.Print("Starting move to " + randomTarget);
axis.MoveToTargetPosition(randomTarget);
}
public void Init()
{
Servo = new ServoMotor(PwmDevice, PwmChannel.C1, 150, 600);
DcMotor = new DcMotor(PwmDevice, PwmChannel.C4, PwmChannel.C5);
Stepper = new StepperMotor(
PwmDevice
, PwmChannel.C11
, PwmChannel.C10
, PwmChannel.C9
, PwmChannel.C8);
Stepper.RotationCompleted += OnStepperCompleted;
Led0 = new Led(PwmDevice, PwmChannel.C0);
}
public void TestNbrSteps()
{
var pin1 = new Mock <IGpioPin>();
var pin2 = new Mock <IGpioPin>();
var stepper = new StepperMotor(200, pin1.Object, pin2.Object);
stepper.Move(5, Direction.Clockwise);
pin1.VerifySet(x => x.PinValue = It.IsAny <bool>(), Times.Exactly(5));
pin2.VerifySet(x => x.PinValue = It.IsAny <bool>(), Times.Exactly(5));
stepper.Move(15, Direction.Anticlockwise);
pin1.VerifySet(x => x.PinValue = It.IsAny <bool>(), Times.Exactly(20));
pin2.VerifySet(x => x.PinValue = It.IsAny <bool>(), Times.Exactly(20));
}
public void TestInitialPosition()
{
var pin1 = new Mock <IGpioPin>();
var pin2 = new Mock <IGpioPin>();
var signal = new Mock <IGpioPin>();
var stepper = new StepperMotor(200, pin1.Object, pin2.Object);
var result1 = stepper.SetInitialPosition(Direction.Anticlockwise, signal.Object, 10);
Assert.False(result1);
signal.VerifyGet(x => x.PinValue, Times.Exactly(10));
pin1.VerifySet(x => x.PinValue = It.IsAny <bool>(), Times.Exactly(10));
signal.Setup(x => x.PinValue).Returns(true);
var result2 = stepper.SetInitialPosition(Direction.Clockwise, signal.Object, 100);
Assert.True(result2);
signal.VerifyGet(x => x.PinValue, Times.Exactly(11));
pin1.VerifySet(x => x.PinValue = It.IsAny <bool>(), Times.Exactly(10));
}
/// <summary>
/// Receives the MotorStopped event from the second axis and signals any waiting threads.
/// </summary>
/// <param name="axis">The axis.</param>
void SecondAxisMotorStopped(StepperMotor axis)
{
SequenceComplete.Set(); // Unblock waiting threads
}
/// <summary>
/// Received the MotorStopped event from the first axis and starts the second axis.
/// </summary>
/// <param name="axis">The axis.</param>
void FirstAxisMotorStopped(StepperMotor axis)
{
secondAxis.MoveToTargetPosition(secondTarget);
}
static void ConditionalUpdateDiagnosticLed(StepperMotor axis)
{
LedState = !LedState;
Led.Write(LedState);
}
public static void Main()
{
// shield-specific setup. Uncomment one of the shield #define lines above.
#if UseOnboardLedForDiagnostics
Led = new OutputPort(Pins.ONBOARD_LED, false);
#endif
#if AdafruitV1Shield
var adafruitMotorShieldV1 = new AdafruitV1MotorShield();
adafruitMotorShieldV1.InitializeShield();
StepperM1M2 = adafruitMotorShieldV1.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
StepperM3M4 = adafruitMotorShieldV1.GetFullSteppingStepperMotor(3, 4);
#elif AdafruitV2Shield
var adafruitMotorShieldV2 = new SparkfunArdumoto(); // use shield at default I2C address.
adafruitMotorShieldV2.InitializeShield();
StepperM1M2 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 1, 2);
StepperM3M4 = adafruitMotorShieldV2.GetMicrosteppingStepperMotor(MicrostepsPerStep, 3, 4);
#elif SparkfunArduMotoShield
var shield = new SparkfunArdumoto();
shield.InitializeShield();
var phase1 = shield.GetHBridge(Connector.A, TargetDevice.Netduino);
var phase2 = shield.GetHBridge(Connector.B, TargetDevice.Netduino);
StepperM1M2 = shield.GetMicrosteppingStepperMotor(MicrostepsPerStep, phase1, phase2);
#elif LedSimulatorShield
var StepperM1M2 = LedMotorSimulator.GetSimulatedStepperMotor(Pins.GPIO_PIN_D0,
PWMChannels.PWM_ONBOARD_LED,
Pins.GPIO_PIN_D1,
PWMChannels.PWM_PIN_D6);
#else
throw new ApplicationException("Uncomment one of the shield #define statements");
#endif
// Create the stepper motor axes and link them to the shield driver.
axis1 = new InstantaneousStepperMotor(LimitOfTravel, StepperM1M2)
{
MaximumSpeed = MaxSpeed
//RampTime = RampTime
};
axis1.BeforeStep += UpdateDiagnosticLed;
speed = 1.0;
direction = +1;
var fasterButton = new InterruptPort(Pins.GPIO_PIN_D1,
true,
Port.ResistorMode.PullUp,
Port.InterruptMode.InterruptEdgeLow);
var slowerButton = new InterruptPort(Pins.GPIO_PIN_D2,
true,
Port.ResistorMode.PullUp,
Port.InterruptMode.InterruptEdgeLow);
var reverseButton = new InterruptPort(Pins.GPIO_PIN_D13,
true,
Port.ResistorMode.PullUp,
Port.InterruptMode.InterruptEdgeLow);
fasterButton.OnInterrupt += fasterButton_OnInterrupt;
slowerButton.OnInterrupt += slowerButton_OnInterrupt;
reverseButton.OnInterrupt += reverseButton_OnInterrupt;
SetMotorVelocity();
Thread.Sleep(Timeout.Infinite);
}
/// <summary>
/// Предоставляет класс содержащий информацию о шаговом двигателе, который приводит в движение плечо
/// </summary>
/// <param name="type">Тип плеча робота-манипулятора</param>
/// <param name="stepper">Экземпляр класса для управления шаговым двигателем</param>
public LeverStepper(LeverType type, StepperMotor stepper)
{
Type = type;
Stepper = stepper;
}
private void comboBox_Gripper_SelectedIndexChanged(object sender, EventArgs e)
{
_selectedGripper = (StepperMotor)comboBox_Gripper.SelectedItem;
}
/// <summary>
/// Toggles the Netduino's on-board led.
/// </summary>
/// <param name="direction">The direction.</param>
static void UpdateDiagnosticLed(StepperMotor axis)
{
ConditionalUpdateDiagnosticLed(axis);
}
