using System;

using Microsoft.SPOT;

using Microsoft.SPOT.Hardware;

namespace NetduinoDevice

{

public class Delay

{

private const long TicksPerMicrosecond = TimeSpan.TicksPerMillisecond / 1000;

public static void Microseconds(uint microSeconds)

{

long stopTicks = Utility.GetMachineTime().Ticks +

(microSeconds * TicksPerMicrosecond);

while (Utility.GetMachineTime().Ticks < stopTicks) { }

}

private static long[] Axes = new long[3];

/// <summary>

/// Per-axis delay: don't wait if the last pulse already happened more

/// than "delay" ago (most likely moving another axis).

/// </summary>

/// <param name="axis">X = 0; Y = 1; Z = 2:</param>

/// <param name="microSeconds">Maximum microseconds to wait</param>

public static void Axis(Axis axis, uint microSeconds)

{

long increment = microSeconds * TicksPerMicrosecond;

long targetTicks = Axes[(int)axis] + increment;

long current;

while ( (current = Utility.GetMachineTime().Ticks) < targetTicks) { }

Axes[(int)axis] = current;

}

}

public enum Axis

{

X = 0,

Y = 1,

Z = 2

}

}