MotionControlBase

MotionControlBase

MotionControlBase is a .NET library providing core abstractions and helpers for motion control devices—such as linear actuators, gantries, peristaltic pumps, and syringe pumps.

Features

• Interfaces for:

  • Linear movement (ILinearMovement, HGantry implementations)
  • Pump control (IPump, ISyringe)
  • Peristaltic pump (PeristalticPump)
  • Motor abstraction (IMotor, IStoppableMotor)

• Unit conversion helpers (mm ↔ motor steps, µL ↔ steps)

• Stop‑channel support with configurable modes

• Motion profiling: acceleration, speed, deceleration, trapezoidal/triangular profiles

• Cross‑platform: usable in .NET 8, .NET 9, .NET 10, .NET Framework 4.8, and .NET Standard 2.0

Installation

Install via NuGet:

dotnet add package MotionControlBase

Or via the Package Manager Console:

Install-Package MotionControlBase

Quick Start

using Essy.LinearMovements;
using Essy.Motor;

// 1. Create your motor (IMotor or IStoppableMotor)
IStoppableMotor motor = new MyStepperMotor();

// 2. Instantiate a LinearMovement (e.g. gantry or slide)
var gantry = new HGantry(motorA: motor, motorB: motor, distancePerRotation: 5.0);

gantry.Powered = true;
gantry.SetPosition(0, 0);

gantry.MoveToPosition(x: 10, y: 20, acceleration: 50, speed: 100, deceleration: 50);

Console.WriteLine($"Current position: ({gantry.XPos:F2}, {gantry.YPos:F2}) mm");

using Essy.Pump;
using Essy.PeristalticPump;

IMotor pumpMotor = new MyPumpMotor();
var pump = new PeristalticPump(pumpMotor, volumePerRotation: 100.0);

pump.StartAspirating(volume: 200.0, speed: 50.0);
pump.WaitForPumpActionToComplete();
Console.WriteLine("Aspirated 200 µL");

API Overview

• Essy.Motor

  • IMotor, IStoppableMotor interfaces
  • MotorStopChannel, MotorStopChannelMode, exceptions

• Essy.LinearMovements

  • ILinearMovement, HGantry, LinearMovement
  • LinearStopChannel

• Essy.Pump

  • IPump, ISyringe

• Essy.PeristalticPump

  • PeristalticPump, PeristalticPumpException

• Essy.CrankedSyringe

  • CrankedSyringe

License

This project is licensed under the MIT License. See LICENSE for details.

Happy motion controlling!