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Implementation of backlash compensation feature

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This commit is contained in:
Colin Dawson
2020-06-02 23:52:25 +01:00
parent 3d47e03240
commit 946fb4b141
8 changed files with 352 additions and 73 deletions
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Meade.net.focuser/Focuser.cs
+46 -38
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@@ -47,6 +47,7 @@ namespace ASCOM.Meade.net
private static string _comPort; // Variables to hold the currrent device configuration
private static int _backlashCompensation;
/// <summary>
/// Private variable to hold an ASCOM Utilities object
/// </summary>
@@ -286,17 +287,11 @@ namespace ASCOM.Meade.net
CheckConnected("Halt");
//A single halt command is sometimes missed by the #909 apm, so let's do it a few times to be safe.
//todo make this mockable
Stopwatch stopwatch = Stopwatch.StartNew();
while (stopwatch.ElapsedMilliseconds < 1000)
{
_sharedResourcesWrapper.SendBlind(":FQ#");
//:FQ# Halt Focuser Motion
//Returns: Nothing
//todo fix this issue: A single halt command is sometimes missed by the #909 apm, so let's do it a few times to be safe.
_utilities.WaitForMilliseconds(250);
}
_sharedResourcesWrapper.SendBlind(":FQ#");
//:FQ# Halt Focuser Motion
//Returns: Nothing
}
public bool IsMoving
@@ -359,45 +354,56 @@ namespace ASCOM.Meade.net
if (position == 0)
return;
MoveFocuser(position > 0, Math.Abs(position));
_sharedResourcesWrapper.Lock(() =>
{
MoveFocuser(position > 0, Math.Abs(position));
ApplyBacklashCompensation(position > 0);
//This gives the focuser time to physically stop.
_utilities.WaitForMilliseconds(1000);
});
}
private void ApplyBacklashCompensation(bool directionOut)
{
if (_backlashCompensation == 0)
return;
_tl.LogMessage("Move", "Applying backlash compensation");
if (directionOut)
{
MoveFocuser(directionOut, Math.Abs(_backlashCompensation));
_utilities.WaitForMilliseconds(Math.Abs(_backlashCompensation));
MoveFocuser(!directionOut, Math.Abs(_backlashCompensation));
}
}
private void MoveFocuser(bool directionOut, int steps)
{
_sharedResourcesWrapper.Lock(() =>
{
//_sharedResourcesWrapper.SendBlind("#:FF#");
//:FF# Set Focus speed to fastest setting
//Returns: Nothing
//_sharedResourcesWrapper.SendBlind("#:FF#");
//:FF# Set Focus speed to fastest setting
//Returns: Nothing
//:FS# Set Focus speed to slowest setting
//Returns: Nothing
//:FS# Set Focus speed to slowest setting
//Returns: Nothing
//:F<n># Autostar, Autostar II – set focuser speed to <n> where <n> is an ASCII digit 1..4
//Returns: Nothing
//All others – Not Supported
_utilities.WaitForMilliseconds(100);
//:F<n># Autostar, Autostar II – set focuser speed to <n> where <n> is an ASCII digit 1..4
//Returns: Nothing
//All others – Not Supported
_utilities.WaitForMilliseconds(100);
//A Single focus command sometimes gets lost on the #909, so sending lots of them solves the issue.
//todo make this mockable
Stopwatch stopwatch = Stopwatch.StartNew();
while (stopwatch.ElapsedMilliseconds < steps)
{
_sharedResourcesWrapper.SendBlind(directionOut ? "#:F+#" : "#:F-#");
//:F+# Start Focuser moving inward (toward objective)
//Returns: None
//Todo fix this issue. A Single focus command sometimes gets lost on the #909, so sending lots of them solves the issue.
//:F-# Start Focuser moving outward (away from objective)
//Returns: None
_sharedResourcesWrapper.SendBlind(directionOut ? "#:F+#" : "#:F-#");
//:F+# Start Focuser moving inward (toward objective)
//Returns: None
_utilities.WaitForMilliseconds(250);
}
//:F-# Start Focuser moving outward (away from objective)
//Returns: None
Halt();
_utilities.WaitForMilliseconds(steps);
//This gives the focuser time to physically stop.
_utilities.WaitForMilliseconds(1000);
});
Halt();
}
public int Position => throw new PropertyNotImplementedException("Position", false);
@@ -556,9 +562,11 @@ namespace ASCOM.Meade.net
var profileProperties = _sharedResourcesWrapper.ReadProfile();
_tl.Enabled = profileProperties.TraceLogger;
_comPort = profileProperties.ComPort;
_backlashCompensation = profileProperties.BacklashCompensation;
LogMessage("ReadProfile", $"Trace logger enabled: {_tl.Enabled}");
LogMessage("ReadProfile", $"Com Port: {_comPort}");
LogMessage("ReadProfile", $"Backlash Steps: {_backlashCompensation}");
}
/// <summary>