#include "StdAfx.h"
#include "WorkCmdMoveMotor.h"
#include "MotionCard_PCI1245.h"


CWorkCmdMoveMotor::CWorkCmdMoveMotor(CMotor &Motor,double val)
  :m_Motor(Motor),m_Val(val)
{
      m_bMoveByDis = true;//默认按距离移动
}
CWorkCmdMoveMotor::~CWorkCmdMoveMotor(void)
{
}
bool CWorkCmdMoveMotor::Excute()
{
    if(gLogMgr->IsDebuging())//调试状态只延时
    {
         Sleep(gLogMgr->GetDebugCmdDelay());
         return true;
    }

    if(m_bMoveByDis)//按距离移动
    {
        double Coord = gMotionCard_PCI1245->GetMotorCoord(m_Motor);
        m_Motor.MoveToCoord(Coord+m_Val);
    }
    else//移动到某个坐标值
        m_Motor.MoveToCoord(m_Val);

    return true;
}
void CWorkCmdMoveMotor::WirteLog()
{
     
}