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]);
}
void HandleAccelerationTimerTick(object ignored)
{
var accelerationSign = Math.Sign(targetVelocity - CurrentVelocity);
var acceleratedVelocity = ComputeAcceleratedVelocity(Acceleration * accelerationSign);
var newVelocity = accelerationSign >= 0 ? Accelerate(acceleratedVelocity) : Decelerate(acceleratedVelocity);
Debug.Print("Velocity " + newVelocity.ToString("F4"));
motorWinding.SetOutputPowerAndPolarity(newVelocity);
CurrentVelocity = newVelocity;
}
