private void MoveTo(Pose target) { MoveToSafeHeight(); lock (_motionLocker) { _mc.MoveToTarget(MotorY, target.Y); _mc.MoveToTarget(MotorX, target.X); _mc.WaitTillEnd(MotorX); _mc.WaitTillEnd(MotorY); _mc.MoveToTargetTillEnd(MotorZ, target.Z); } }
/// <summary> /// Avoid collision. /// </summary> public void MoveToSafeHeight() { lock (_motionLocker) { if (GetPosition(MotorZ) < SafeZHeight) { _mc.MoveToTargetTillEnd(MotorZ, SafeZHeight); } } }
public void MoveToSafeHeight() { lock (_motionLocker) { if (GetPosition(MotorZ) < SafeZHeight) { CylinderHead(HeadCylinderState.Up, ActionType.Load); CylinderHead(HeadCylinderState.Up, ActionType.Unload); _mc.MoveToTargetTillEnd(MotorZ, SafeZHeight); } } }
public void DescendToBottomLayer() { _mc.MoveToTargetTillEnd(MotorTray, BottomFirstLayerHeight); }