public void PerformStep(int direction)
{
_phaseIndex += direction;
if (_phaseIndex > _maxIndex)
{
_phaseIndex = 0;
}
if (_phaseIndex < 0)
{
_phaseIndex = _maxIndex;
}
_phase1.SetOutputPowerAndPolarity(_inPhaseDutyCycle[_phaseIndex]);
_phase2.SetOutputPowerAndPolarity(_outOfPhaseDutyCycle[_phaseIndex]);
}
private void HandleAccelerationTimerTick(object ignored)
{
int num = Math.Sign(_targetVelocity - CurrentVelocity);
double acceleratedVelocity = ComputeAcceleratedVelocity(Acceleration * num);
double duty = num >= 0 ? Accelerate(acceleratedVelocity) : Decelerate(acceleratedVelocity);
Debug.Print("Velocity " + duty.ToString("F4"));
_motorWinding.SetOutputPowerAndPolarity(duty);
CurrentVelocity = duty;
}