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#include "StdAfx.h"
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#include "PlatformXY.h"
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#include "LogMgr.h"
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#include "PciPortMgr.h"
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#include "Propertie.h"
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#include "PropertieMgr.h"
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#include "AuthorityMgr.h"
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#include "GlobalDrawMgr.h"
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#include "DrawSimpleShape.h"
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#include "ExceptionMsg.h"
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#include "ObjComponentMgr.h"
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#include "DeviceState.h"
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#include "WorkCmdMovePlatformXY.h"
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#include "MsgBox.h"
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#include "WorkCmdInvoker.h"
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#include "MotionCard_PCI1245.h"
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#include "WorkCmdSetMotorSpeed.h"
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#include "WorkCmdWaitMotorStop.h"
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#include "WorkCmdMoveMotor.h"
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#include "Program_SZ_XL.h"
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//电机速度校准文件
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#define MOTOR_SPEED_FILE_X _T("\\Parameter\\PlatformXY\\MotorSpeedX.txt")
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#define MOTOR_SPEED_FILE_Y _T("\\Parameter\\PlatformXY\\MotorSpeedY.txt")
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CPlatformXY *gPlatformXY = NULL;
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CPlatformXY::CPlatformXY(CMotor &MotorX,CMotor &MotorY)
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:m_MotorX(MotorX),m_MotorY(MotorY)
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{
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m_bBresenhamAlgorithm = false;//是否使用直线算法来移动
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m_bUsed = false;//是否使用平台
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m_MaxDisL = 0;//左边最大行程
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m_MaxDisR = 0;//右边最大行程
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m_MaxDisU = 0;//上边最大行程
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m_MaxDisD = 0;//下边最大行程
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m_MoveDelay = 200;//平台移动延时us
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m_MoveOrder = 0;
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m_bSpeedCtrl = false;//是否使用平台运动速度控制(mm/s)
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m_WorkSpeed = 40;//加工速度(mm/s)
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m_MoveSpeed = 40;//空移速度(mm/s)
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m_MoveNeedDeviceIni = true;//是否需要设备初始化后才能手动移动
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m_XY_Angle = 0;//XY 轴的夹角(360 度角)
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m_bMoveToRealCoord = false;//是否移动到实际的坐标位置,应对平台有安装角度的情况
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m_bUseMoveRange = true;//是否使用范围限制
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m_MaxMoveDis = 10;//一次最大的移动距离
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m_bUseManualMoveDis = true;//是否使用手调整量
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m_MaxManualMoveDis =5;//最大的手动移动量(在这个正负范围之内)
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m_InitMotorX = true;//是否初始化X 轴
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m_InitMotorY = true;//是否初始化Y 轴
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m_bLockManualMoveDis = false;//锁定手动微调值
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m_UserMaxMoveDis = 5;//操作员一次最大的移动距离mm
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}
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CPlatformXY::~CPlatformXY(void)
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{
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}
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#if 1
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CMFCPropertyGridProperty *CPlatformXY::CreatGridProperty()
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{
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CString PropertyName;//属性名称
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CString Description;//描述
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CString Path = _T("PlatformXY");//存储路径
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CString Name;
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//-------------------------------------------------------------------------------//
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PropertyName = _T("平台");
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CMFCPropertyGridProperty* pGroup = new CMFCPropertyGridProperty(PropertyName);
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//-------------------------------------------------------------------------------//
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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{
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//添加属性变量映射
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Name = _T("m_bUsed");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bUsed);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("使用平台");
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Description = _T("是否使用电机平台");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bUsed, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_MoveNeedDeviceIni");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MoveNeedDeviceIni);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("需要初始化");
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Description = _T("是否需要初始化设备后才能手动移动平台");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MoveNeedDeviceIni, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_InitMotorX");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_InitMotorX);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("初始化X 轴");
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Description = _T("是否初始化X 轴");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_InitMotorX, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_InitMotorY");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_InitMotorY);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("初始化Y 轴");
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Description = _T("是否初始化Y 轴");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_InitMotorY, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_MoveDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MoveDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("平台移动延时");
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Description = _T("平台移动到位的等待延时,避免晃动(单位:us)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MoveDelay, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_bBresenhamAlgorithm");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bBresenhamAlgorithm);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("直线算法");
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Description = _T("平台移动是否使用直线算法");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bBresenhamAlgorithm, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_ProductPoint_x");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_ProductPoint.x);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("取料点X");
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Description = _T("取料点X 坐标");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_ProductPoint.x, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_ProductPoint_y");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_ProductPoint.y);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("取料点Y");
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Description = _T("取料点Y 坐标");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_ProductPoint.y, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_bMoveToRealCoord");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bMoveToRealCoord);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("实际坐标");
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Description = _T("移动是否考虑平台角度,理论坐标校准为实际坐标");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bMoveToRealCoord, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_XY_Angle");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_XY_Angle);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("XY 轴夹角");
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Description = _T("电机XY 轴的夹角(360 度角)");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_XY_Angle, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_bUseManualMoveDis");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bUseManualMoveDis);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("使用微调功能");
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Description = _T("是否使用当前的微调值来调整对象的移动位置");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bUseManualMoveDis, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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{
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//添加属性变量映射
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Name = _T("m_MaxManualMoveDis");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MaxManualMoveDis);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("最大微调量");
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Description = _T("最大手动微调量");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxManualMoveDis, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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}
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{
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CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(_T("平台范围"));
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_MaxMoveDis");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MaxMoveDis);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("最大手动距离");
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Description = _T("手动移动平台一次最大的移动距离(mm)");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxMoveDis, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_UserMaxMoveDis");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_UserMaxMoveDis);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("操作限制距离");
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Description = _T("非厂家权限一次最大移动距离(mm)");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_UserMaxMoveDis, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_bUseMoveRange");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bUseMoveRange);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
|
|
//添加属性显示
|
|
|
PropertyName = _T("使用范围限制");
|
|
|
Description = _T("是否限制平台的移动范围");
|
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bUseMoveRange, Description);
|
|
|
pGroup1->AddSubItem(p);
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
|
}
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY))
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = _T("m_MaxDisL");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&m_MaxDisL);
|
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
|
pPropertie->SetpModule(this);
|
|
|
pPropertie->SetPath(Path);
|
|
|
pPropertie->SetName(Name);
|
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
|
|
//添加属性显示
|
|
|
PropertyName = _T("左边最大行程");
|
|
|
Description = _T("从原点位置开始X 轴左边最大行程");
|
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxDisL, Description);
|
|
|
pGroup1->AddSubItem(p);
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
|
}
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY))
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = _T("m_MaxDisR");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&m_MaxDisR);
|
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
|
pPropertie->SetpModule(this);
|
|
|
pPropertie->SetPath(Path);
|
|
|
pPropertie->SetName(Name);
|
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
|
|
//添加属性显示
|
|
|
PropertyName = _T("右边最大行程");
|
|
|
Description = _T("从原点位置开始X 轴右边最大行程");
|
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxDisR, Description);
|
|
|
pGroup1->AddSubItem(p);
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
|
}
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY))
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = _T("m_MaxDisU");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&m_MaxDisU);
|
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
|
pPropertie->SetpModule(this);
|
|
|
pPropertie->SetPath(Path);
|
|
|
pPropertie->SetName(Name);
|
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
|
|
//添加属性显示
|
|
|
PropertyName = _T("上边最大行程");
|
|
|
Description = _T("从原点位置开始Y 轴上边最大行程");
|
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxDisU, Description);
|
|
|
pGroup1->AddSubItem(p);
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
|
}
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY))
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = _T("m_MaxDisD");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&m_MaxDisD);
|
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
|
pPropertie->SetpModule(this);
|
|
|
pPropertie->SetPath(Path);
|
|
|
pPropertie->SetName(Name);
|
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
|
|
//添加属性显示
|
|
|
PropertyName = _T("下边最大行程");
|
|
|
Description = _T("从原点位置开始Y 轴下边最大行程");
|
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxDisD, Description);
|
|
|
pGroup1->AddSubItem(p);
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
|
}
|
|
|
pGroup->AddSubItem(pGroup1);
|
|
|
}
|
|
|
{
|
|
|
CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(_T("运动速度"));
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY))
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = _T("m_bSpeedCtrl");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&m_bSpeedCtrl);
|
|
|
pPropertie->SetType(_PROP_TYPE_BOOL);
|
|
|
pPropertie->SetpModule(this);
|
|
|
pPropertie->SetPath(Path);
|
|
|
pPropertie->SetName(Name);
|
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
|
|
//添加属性显示
|
|
|
PropertyName = _T("mm/s 方式");
|
|
|
Description = _T("是否使用平台运动速度控制(mm/s)");
|
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bSpeedCtrl, Description);
|
|
|
pGroup1->AddSubItem(p);
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
|
}
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY))
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = _T("m_WorkSpeed");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&m_WorkSpeed);
|
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
|
pPropertie->SetpModule(this);
|
|
|
pPropertie->SetPath(Path);
|
|
|
pPropertie->SetName(Name);
|
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
|
|
//添加属性显示
|
|
|
PropertyName = _T("加工速度");
|
|
|
Description = _T("加工速度(mm/s)");
|
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_WorkSpeed, Description);
|
|
|
pGroup1->AddSubItem(p);
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
|
}
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY))
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = _T("m_MoveSpeed");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&m_MoveSpeed);
|
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
|
pPropertie->SetpModule(this);
|
|
|
pPropertie->SetPath(Path);
|
|
|
pPropertie->SetName(Name);
|
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
|
|
//添加属性显示
|
|
|
PropertyName = _T("空移速度");
|
|
|
Description = _T("空移速度(mm/s)");
|
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MoveSpeed, Description);
|
|
|
pGroup1->AddSubItem(p);
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
|
}
|
|
|
pGroup->AddSubItem(pGroup1);
|
|
|
}
|
|
|
//-------------------------------------------------------------------------------//
|
|
|
return pGroup;
|
|
|
}
|
|
|
void CPlatformXY::ExportPar(ofstream *pFile)
|
|
|
{
|
|
|
(*pFile)<<"[模块] [CPlatformXY]------------------------------------------------"<<endl;
|
|
|
(*pFile)<<"[取料点X][m_ProductPoint.x] = "<<m_ProductPoint.x<<endl;
|
|
|
(*pFile)<<"[取料点Y][m_ProductPoint.y] = "<<m_ProductPoint.y<<endl;
|
|
|
}
|
|
|
//获取平台范围
|
|
|
DbRect CPlatformXY::GetRect()
|
|
|
{
|
|
|
return DbRect(m_MaxDisL*(-1),m_MaxDisR,m_MaxDisU,m_MaxDisD*(-1));
|
|
|
}
|
|
|
void CPlatformXY::Draw(CDC* pDC)
|
|
|
{
|
|
|
if(gDraw->IsShowPlatformPos())
|
|
|
{
|
|
|
DrawRect(pDC,gDraw->GetSelObjectPen(),GetRect(),false);
|
|
|
}
|
|
|
}
|
|
|
#endif
|
|
|
|
|
|
#if 1
|
|
|
void CPlatformXY::WriteWorkFileExt(vector<CLab> &LabVec)
|
|
|
{
|
|
|
//读取也要按照这个顺序
|
|
|
LabVec.push_back(CLab(LAB_NULL,m_WorkSpeed));//加工速度
|
|
|
LabVec.push_back(CLab(LAB_NULL,m_MoveSpeed));//空移速度
|
|
|
}
|
|
|
void CPlatformXY::ReadWorkFile(CLabVecRang &LabVecRang)
|
|
|
{
|
|
|
int idx = LabVecRang.GetStart()+1;
|
|
|
m_WorkSpeed = LabVecRang.GetDouble(idx++);
|
|
|
m_MoveSpeed = LabVecRang.GetDouble(idx++);
|
|
|
|
|
|
AdjustPlatformSpeed();
|
|
|
}
|
|
|
#endif
|
|
|
Dbxy CPlatformXY::GetCoord()
|
|
|
{
|
|
|
return gMotionCard_PCI1245->GetPlatformXYCoord();
|
|
|
}
|
|
|
//校准平台的运动速度
|
|
|
void CPlatformXY::AdjustPlatformSpeed()
|
|
|
{
|
|
|
|
|
|
}
|
|
|
//计算脉冲个数,结果保存到PulseCntX 和PulseCntY 并且保存当前坐标
|
|
|
//为了避免累计误差，脉冲个数应该用脉冲坐标来计算
|
|
|
//MovePt 和TargetPt 都是相对于平台原点的坐标
|
|
|
void CPlatformXY::CalPulseCntAndSaveCoord(Dbxy MovePt,Dbxy TargetPt,double &PulseCntX,double &PulseCntY,bool bSaveCoord)
|
|
|
{
|
|
|
Dbxy Coord = GetCoord();
|
|
|
|
|
|
double OnePulseDisX = m_MotorX.GetOnePulseDis();
|
|
|
double OnePulseDisY = m_MotorY.GetOnePulseDis();
|
|
|
//计算发送脉冲个数，有正负的区分
|
|
|
double CntX = (TargetPt.x - (MovePt.x+Coord.x))/OnePulseDisX;
|
|
|
double CntY = (TargetPt.y - (MovePt.y+Coord.y))/OnePulseDisY;
|
|
|
|
|
|
PulseCntX = (abs(CntX));//向下取整
|
|
|
PulseCntY = (abs(CntY));
|
|
|
|
|
|
//保存当前坐标------------------------------------------------------------------------
|
|
|
/*注意是应该加上实际的移动距离,
|
|
|
TargetPt 只是目的坐标，但是不一定能准确的移动到TargetPt 的位置上*/
|
|
|
double ValX = abs(CntX);
|
|
|
if(CntX>=1)//floor函数对负数不起作用
|
|
|
{
|
|
|
Coord.x += (floor(ValX)*OnePulseDisX);
|
|
|
}
|
|
|
else if(CntX<=-1)
|
|
|
{
|
|
|
Coord.x -= (floor(ValX)*OnePulseDisX);
|
|
|
}
|
|
|
double ValY = abs(CntY);
|
|
|
if(CntY>=1)//floor函数对负数不起作用
|
|
|
{
|
|
|
Coord.y += (floor(ValY)*OnePulseDisY);
|
|
|
}
|
|
|
else if(CntY<=-1)
|
|
|
{
|
|
|
Coord.y -= (floor(ValY)*OnePulseDisY);
|
|
|
}
|
|
|
//检查新坐标的安全性------------------------------------------
|
|
|
if(m_bUseMoveRange && IsPointInRect(Coord,GetRect())==false)
|
|
|
{
|
|
|
CString str = _T("电机不能移动到安全范围外!");
|
|
|
CExceptionMsg Msg;
|
|
|
Msg.SetMsg(str);
|
|
|
throw Msg;
|
|
|
}
|
|
|
//设置新的坐标
|
|
|
if(bSaveCoord)//因为平台补偿的是否不需要记录坐标值
|
|
|
{
|
|
|
SetCoord(Coord);
|
|
|
}
|
|
|
}
|
|
|
//记录坐标(通过脉冲个数移动平台时)
|
|
|
void CPlatformXY::SaveCoord(int PulseCntX,int PulseCntY)
|
|
|
{
|
|
|
Dbxy Coord = GetCoord();
|
|
|
double OnePulseDisX = m_MotorX.GetOnePulseDis();
|
|
|
double OnePulseDisY = m_MotorY.GetOnePulseDis();
|
|
|
|
|
|
Coord.x += (PulseCntX*OnePulseDisX);
|
|
|
Coord.y += (PulseCntY*OnePulseDisY);
|
|
|
|
|
|
SetCoord(Coord);
|
|
|
}
|
|
|
//平台移动的Bresenham 算法(移动距离长的轴每次动一个脉冲,短的轴每次是否发送脉冲根据斜率来确定)
|
|
|
//MotorX 代表发送脉冲多的轴
|
|
|
//只管发脉冲，不管方向
|
|
|
bool CPlatformXY::MoveBresenhamAlgorithm(bool bWork,CMotor &MotorX,double PulseCntX,CMotor &MotorY,double PulseCntY)
|
|
|
{
|
|
|
double error = 2*PulseCntY - PulseCntX;
|
|
|
bool bSendY = false;
|
|
|
|
|
|
int TallyY = 0;//统计Y 的个数(只有Y 可能有误差)
|
|
|
for(double i=0;i<PulseCntX;i++)
|
|
|
{
|
|
|
if(MotorX.MoveOnePluse(MotorX.GetDelay(bWork))==false)
|
|
|
{
|
|
|
return false;//撞到限位
|
|
|
}
|
|
|
if(bSendY)
|
|
|
{
|
|
|
if(MotorY.MoveOnePluse(MotorY.GetDelay(bWork))==false)
|
|
|
{
|
|
|
return false;//撞到限位
|
|
|
}
|
|
|
bSendY = false;
|
|
|
TallyY++;
|
|
|
}
|
|
|
|
|
|
if(error>=0)
|
|
|
{
|
|
|
bSendY = true;
|
|
|
error = error - 2*PulseCntX;
|
|
|
}
|
|
|
error = error +2*PulseCntY;
|
|
|
}
|
|
|
//x 发送数量肯定是准的
|
|
|
//Y 的数量由于计算误差可能会少一个
|
|
|
if(TallyY<PulseCntY)
|
|
|
{
|
|
|
CString str = "[Bresenham 算法脉冲补偿]";
|
|
|
gLogMgr->WriteDebugLog(str);
|
|
|
|
|
|
if(MotorY.MoveOnePluse(MotorY.GetDelay(bWork))==false)
|
|
|
{
|
|
|
return false;//撞到限位
|
|
|
}
|
|
|
}
|
|
|
return true;
|
|
|
}
|
|
|
//移动指定的距离(dis 的单位是毫米)
|
|
|
bool CPlatformXY::MoveDistance(double dis,DIRECTION dir,bool bSaveCoord)
|
|
|
{
|
|
|
//获取当前坐标
|
|
|
Dbxy MovePt = GetCoord();
|
|
|
Dbxy TargetPt;
|
|
|
switch(dir)
|
|
|
{
|
|
|
case _DIR_L:
|
|
|
MovePt.x -= dis;
|
|
|
break;
|
|
|
case _DIR_R:
|
|
|
MovePt.x += dis;
|
|
|
break;
|
|
|
case _DIR_U:
|
|
|
MovePt.y += dis;
|
|
|
break;
|
|
|
case _DIR_D:
|
|
|
MovePt.y -= dis;
|
|
|
break;
|
|
|
default:
|
|
|
return true;
|
|
|
break;
|
|
|
}
|
|
|
return Move(false,TargetPt,MovePt,bSaveCoord);
|
|
|
}
|
|
|
//移动指定的脉冲个数(不记录坐标)
|
|
|
bool CPlatformXY::MovePulseCnt(int Cnt,DIRECTION dir)
|
|
|
{
|
|
|
if(Cnt<=0)
|
|
|
return true;
|
|
|
|
|
|
//设置方向
|
|
|
SetMoveDir(dir);
|
|
|
|
|
|
int PulseCntX = 0;
|
|
|
int PulseCntY = 0;
|
|
|
|
|
|
switch(dir)
|
|
|
{
|
|
|
case _DIR_L:
|
|
|
PulseCntX = Cnt*(-1);
|
|
|
break;
|
|
|
case _DIR_R:
|
|
|
PulseCntX = Cnt;
|
|
|
break;
|
|
|
case _DIR_U:
|
|
|
PulseCntY = Cnt;
|
|
|
break;
|
|
|
case _DIR_D:
|
|
|
PulseCntY = Cnt*(-1);
|
|
|
break;
|
|
|
default:
|
|
|
break;
|
|
|
}
|
|
|
|
|
|
if(PulseCntX<0)
|
|
|
{
|
|
|
PulseCntX *= -1;
|
|
|
}
|
|
|
if(PulseCntY<0)
|
|
|
{
|
|
|
PulseCntY *= -1;
|
|
|
}
|
|
|
|
|
|
//平台移动
|
|
|
m_MotorX.MoveByPluse((double)PulseCntX,false);
|
|
|
m_MotorY.MoveByPluse((double)PulseCntY,false);
|
|
|
|
|
|
return true;
|
|
|
}
|
|
|
void CPlatformXY::SetMoveDir(DIRECTION dir)
|
|
|
{
|
|
|
switch(dir)
|
|
|
{
|
|
|
case _DIR_L:
|
|
|
m_MotorX.SetDir(false);
|
|
|
break;
|
|
|
case _DIR_R:
|
|
|
m_MotorX.SetDir(true);
|
|
|
break;
|
|
|
case _DIR_U:
|
|
|
m_MotorY.SetDir(true);
|
|
|
break;
|
|
|
case _DIR_D:
|
|
|
m_MotorY.SetDir(false);
|
|
|
break;
|
|
|
default:
|
|
|
return;
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
//根据移动点来设置移动的方向
|
|
|
void CPlatformXY::SetMoveDir(Dbxy MovePt,Dbxy TargetPt)
|
|
|
{
|
|
|
Dbxy Coord = GetCoord();
|
|
|
|
|
|
bool bDirX = false;//负向
|
|
|
bool bDirY = false;//负向
|
|
|
if((TargetPt.x - (MovePt.x+Coord.x))>0)
|
|
|
{
|
|
|
bDirX = true;
|
|
|
}
|
|
|
if((TargetPt.y - (MovePt.y+Coord.y))>0)
|
|
|
{
|
|
|
bDirY = true;
|
|
|
}
|
|
|
if(!gLogMgr->IsDebuging())//调试状态
|
|
|
{
|
|
|
m_MotorX.SetDir(bDirX);
|
|
|
m_MotorY.SetDir(bDirY);
|
|
|
}
|
|
|
}
|
|
|
//理论坐标系的坐标pt 转换为平台的实际坐标
|
|
|
Dbxy CPlatformXY::TheoryCoor2RealCoord(Dbxy pt)
|
|
|
{
|
|
|
double Angle = _360ToAngle(m_XY_Angle);
|
|
|
Dbxy CenterPt(0,0);//相对于平台的坐标原点
|
|
|
Dbxy RealPt = RotatoPt(pt,Angle,CenterPt);
|
|
|
return RealPt;
|
|
|
}
|
|
|
|
|
|
//移动MovePt 点到TargetPt 点(bSaveCoord 表示是否要记录移动的坐标(默认是要记录的))
|
|
|
//MovePt 和TargetPt都是相对于平台原点的坐标值
|
|
|
//bWork 表示工作或者空移
|
|
|
bool CPlatformXY::Move(bool bWork,Dbxy MovePt,Dbxy TargetPt,bool bSaveCoord)
|
|
|
{
|
|
|
if(!m_bUsed)
|
|
|
return true;
|
|
|
//移动前
|
|
|
OnPlatformMoveStart();
|
|
|
//按实际位置移动
|
|
|
if(m_bMoveToRealCoord)
|
|
|
{
|
|
|
//MovePt 和TargetPt 都是理论坐标系的坐标
|
|
|
//当平台有角度时平台移动的位置会有偏移
|
|
|
//理论坐标系的坐标pt 转换为平台的实际坐标
|
|
|
MovePt = TheoryCoor2RealCoord(MovePt);
|
|
|
TargetPt = TheoryCoor2RealCoord(TargetPt);
|
|
|
}
|
|
|
//使用研华运动控制卡控制平台
|
|
|
if(gMotionCard_PCI1245->IsbUsed())
|
|
|
{
|
|
|
Dbxy Coord = GetTargetCoord(MovePt,TargetPt);//平台的目标坐标点
|
|
|
//检查坐标的安全性(抛出异常)
|
|
|
CheckCoordRange(Coord);
|
|
|
Coord = gMotionCard_PCI1245->MovePlatformXY(Coord);
|
|
|
#if 0
|
|
|
//设置新的坐标
|
|
|
if(bSaveCoord)//因为平台补偿的是否不需要记录坐标值
|
|
|
{
|
|
|
m_Coord = Coord;
|
|
|
//通知观察者平台坐标变化了
|
|
|
NotifyObservers();
|
|
|
}
|
|
|
#endif
|
|
|
}
|
|
|
|
|
|
OnPlatformMoveEnd();
|
|
|
return true;
|
|
|
}
|
|
|
//设置当前位置为平台的坐标原点
|
|
|
void CPlatformXY::SetCurPosOrigin()
|
|
|
{
|
|
|
Dbxy pt(0,0);
|
|
|
|
|
|
gMotionCard_PCI1245->SetCurGpIdx(0);
|
|
|
SetCoord(pt);
|
|
|
//切换组再设置一次
|
|
|
gMotionCard_PCI1245->SetCurGpIdx(1);
|
|
|
SetCoord(pt);
|
|
|
|
|
|
CString str1 = _T("[func][SetCurPosOrigin] [设置当前位置为工作原点]");
|
|
|
gLogMgr->WriteDebugLog(str1);
|
|
|
}
|
|
|
Dbxy CPlatformXY::GetTargetCoord(Dbxy MovePt,Dbxy TargetPt)
|
|
|
{
|
|
|
Dbxy Coord;//平台的目标坐标点
|
|
|
Coord.x = TargetPt.x - MovePt.x;
|
|
|
#ifdef __CUSTOM_SW_XL__
|
|
|
Coord.y = MovePt.y -TargetPt.y;
|
|
|
#else
|
|
|
Coord.y = TargetPt.y - MovePt.y;
|
|
|
#endif
|
|
|
return Coord;
|
|
|
}
|
|
|
//检查坐标的安全性(抛出异常)
|
|
|
void CPlatformXY::CheckCoordRange(Dbxy Coord)
|
|
|
{
|
|
|
//检查新坐标的安全性------------------------------------------
|
|
|
if(m_bUseMoveRange && IsPointInRect(Coord,GetRect())==false)
|
|
|
{
|
|
|
CString str = _T("电机不能移动到安全范围外!");
|
|
|
CExceptionMsg Msg;
|
|
|
Msg.SetMsg(str);
|
|
|
throw Msg;
|
|
|
}
|
|
|
}
|
|
|
//设置新的坐标
|
|
|
void CPlatformXY::SetCoord(Dbxy pt)
|
|
|
{
|
|
|
m_Coord = pt;
|
|
|
|
|
|
gMotionCard_PCI1245->SetCoord(pt);
|
|
|
|
|
|
//通知观察者平台坐标变化了
|
|
|
NotifyObservers();
|
|
|
|
|
|
}
|
|
|
//移动到指定坐标
|
|
|
void CPlatformXY::MoveToPt(Dbxy MovePt,Dbxy TargetPt)
|
|
|
{
|
|
|
gLogMgr->WriteDebugLog("MovePt.x","",MovePt.x);
|
|
|
gLogMgr->WriteDebugLog("MovePt.y","",MovePt.y);
|
|
|
Move(false,MovePt,TargetPt);
|
|
|
}
|
|
|
//手动步进移动平台
|
|
|
void CPlatformXY::ManualMovePlatForm(bool bMoveByDis,double MoveDis,DIRECTION MoveDir)
|
|
|
{
|
|
|
//自动运行中禁止移动
|
|
|
if(gProgram_SZ_XL->IsbAutoWorking())
|
|
|
return;
|
|
|
//非厂家权限限制移动距离
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY,false)==false)
|
|
|
{
|
|
|
if(fabs(MoveDis)>m_UserMaxMoveDis)
|
|
|
{
|
|
|
CString s;
|
|
|
s.Format("一次只能移动%.3f",m_UserMaxMoveDis);
|
|
|
CMsgBox MsgBox;
|
|
|
MsgBox.Show(s);
|
|
|
return;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
CDeviceState &DeviceState = CDeviceState::GetInstance();
|
|
|
bool IniState = DeviceState.IsDeviceIni();
|
|
|
DeviceState.SetIniState(true);//强制初始化成功
|
|
|
|
|
|
//需要初始化后才能移动平台
|
|
|
if(IsMoveNeedDeviceIni())
|
|
|
{
|
|
|
if(DeviceState.IsDeviceIni()==false)
|
|
|
{
|
|
|
CMsgBox MsgBox;
|
|
|
MsgBox.Show("设备未初始化！");
|
|
|
return;
|
|
|
}
|
|
|
}
|
|
|
if(bMoveByDis)
|
|
|
{
|
|
|
double Max = m_MaxMoveDis;//一次最大移动距离
|
|
|
if(MoveDis>Max)
|
|
|
{
|
|
|
CMsgBox MsgBox;
|
|
|
CString str;
|
|
|
str.Format(_T("每次最多只能移动%f (mm)"),Max);
|
|
|
MsgBox.Show(str);
|
|
|
return;
|
|
|
}
|
|
|
}
|
|
|
CWorkCmdContainer CmdContainer;
|
|
|
//设置电机速度
|
|
|
{
|
|
|
CWorkCmdSetMotorSpeed *pCmd = new CWorkCmdSetMotorSpeed();
|
|
|
pCmd->SetbSetMotorX();
|
|
|
pCmd->SetbSetMotorX2();
|
|
|
pCmd->SetbSetMotorY();
|
|
|
pCmd->SetSpeedType(_SpeedType_Move);
|
|
|
CmdContainer.AddCmd(pCmd);
|
|
|
}
|
|
|
//移动
|
|
|
{
|
|
|
CMotor *pMotor = CMotor::GetMotor(MOTOR_Y);
|
|
|
if(MoveDir == _DIR_L ||MoveDir == _DIR_R )
|
|
|
{
|
|
|
if(gMotionCard_PCI1245->GetCurGpIdx()==0)
|
|
|
pMotor = CMotor::GetMotor(MOTOR_X);
|
|
|
else
|
|
|
pMotor = CMotor::GetMotor(MOTOR_X2);
|
|
|
}
|
|
|
if(MoveDir == _DIR_L || MoveDir == _DIR_D)
|
|
|
MoveDis *= (-1);
|
|
|
|
|
|
CWorkCmdMoveMotor *pCmd = new CWorkCmdMoveMotor(*pMotor,MoveDis);
|
|
|
pCmd->SetMoveFlg(true);//按距离移动
|
|
|
CmdContainer.AddCmd(pCmd);
|
|
|
}
|
|
|
//等待移动结束
|
|
|
{
|
|
|
CWorkCmdWaitMotorStop *pCmd = new CWorkCmdWaitMotorStop();
|
|
|
if(MoveDir == _DIR_L ||MoveDir == _DIR_R )
|
|
|
{
|
|
|
if(gMotionCard_PCI1245->GetCurGpIdx()==0)
|
|
|
pCmd->SetbWaitMotorX();
|
|
|
else
|
|
|
pCmd->SetbWaitMotorX2();
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
pCmd->SetbWaitMotorY();
|
|
|
}
|
|
|
CmdContainer.AddCmd(pCmd);
|
|
|
}
|
|
|
CWorkCmdInvoker WorkInvoker;//工作调度者
|
|
|
WorkInvoker.Excute(CmdContainer);
|
|
|
|
|
|
|
|
|
//通知观察者平台坐标变化了
|
|
|
NotifyObservers();
|
|
|
|
|
|
DeviceState.SetIniState(IniState);//恢复初始化状态
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
//平台是否在取料点上
|
|
|
bool CPlatformXY::IsAtProductPoint()
|
|
|
{
|
|
|
return (m_ProductPoint==m_Coord);
|
|
|
}
|
|
|
//设置当前点为取料点
|
|
|
void CPlatformXY::SetCurPosAsProductPt()
|
|
|
{
|
|
|
CMsgBox MsgBox;
|
|
|
if(MsgBox.ConfirmOkCancel("设置当前点为取料点?"))
|
|
|
{
|
|
|
m_ProductPoint = m_Coord;
|
|
|
gLogMgr->WriteDebugLog("Fuc---->SetCurPosAsProductPt");
|
|
|
}
|
|
|
}
|
|
|
//移动到取料点
|
|
|
void CPlatformXY::MoveToWorkPt()
|
|
|
{
|
|
|
CDeviceState &DeviceState = CDeviceState::GetInstance();
|
|
|
if(!DeviceState.CheckInitState())
|
|
|
return;
|
|
|
vector<CString> CmdVec;
|
|
|
CmdVec.push_back(_T("CmdName[CMD_PLATFORM_MOVE] Par1[TO_WORK_PT]"));
|
|
|
CWorkCmdInvoker Invoker;
|
|
|
Invoker.ExcuteCmd(CmdVec);
|
|
|
}
|
|
|
void CPlatformXY::MoveToOriginPt()
|
|
|
{
|
|
|
CDeviceState &DeviceState = CDeviceState::GetInstance();
|
|
|
if(!DeviceState.CheckInitState())
|
|
|
return;
|
|
|
vector<CString> CmdVec;
|
|
|
CmdVec.push_back(_T("CmdName[CMD_PLATFORM_MOVE] Par1[TO_ORIGIN]"));
|
|
|
CWorkCmdInvoker Invoker;
|
|
|
Invoker.ExcuteCmd(CmdVec);
|
|
|
}
|
|
|
//初始化平台(bConfirm 表示是否弹出提示)
|
|
|
void CPlatformXY::IniPlat(bool bConfirm)
|
|
|
{
|
|
|
if(bConfirm)
|
|
|
{
|
|
|
CMsgBox MsgBox;
|
|
|
if(MsgBox.ConfirmOkCancel(_T("初始化平台?"))==false)
|
|
|
return;
|
|
|
}
|
|
|
OnPlatformMoveStart();
|
|
|
|
|
|
vector<CString> CmdVec;
|
|
|
if(m_InitMotorX)
|
|
|
{
|
|
|
CmdVec.push_back(_T("CmdName[CMD_MOTOR_TO_MACHINE_ORIGIN] Par1[X]"));
|
|
|
}
|
|
|
if(m_InitMotorY)
|
|
|
{
|
|
|
CmdVec.push_back(_T("CmdName[CMD_MOTOR_TO_MACHINE_ORIGIN] Par1[Y]"));
|
|
|
CmdVec.push_back(_T("CmdName[CMD_MOTOR_TO_OFFSET_POS] Par1[Y]"));
|
|
|
}
|
|
|
if(m_InitMotorX)
|
|
|
{
|
|
|
CmdVec.push_back(_T("CmdName[CMD_MOTOR_TO_OFFSET_POS] Par1[X]"));
|
|
|
}
|
|
|
CmdVec.push_back(_T("CmdName[CMD_DEVICE_PAR_RESET]"));
|
|
|
CWorkCmdInvoker Invoker;
|
|
|
Invoker.ExcuteCmd(CmdVec);
|
|
|
|
|
|
OnPlatformMoveEnd();
|
|
|
}
|
|
|
//移动平台之前的操作(主要是要停掉占cpu 的工作)
|
|
|
void CPlatformXY::OnPlatformMoveStart()
|
|
|
{
|
|
|
}
|
|
|
void CPlatformXY::OnPlatformMoveEnd()
|
|
|
{
|
|
|
}
|
|
|
#if 1
|
|
|
//重置手动微调量
|
|
|
void CPlatformXY::ResetManualMoveDis()
|
|
|
{
|
|
|
m_ManualMoveDis.x = m_ManualMoveDis.y = 0;
|
|
|
}
|
|
|
//记录手动移动量
|
|
|
void CPlatformXY::SaveManualMoveDis(double MoveDis,DIRECTION MoveDir)
|
|
|
{
|
|
|
if(m_bLockManualMoveDis)//锁定状态
|
|
|
return;
|
|
|
|
|
|
switch(MoveDir)
|
|
|
{
|
|
|
case _DIR_L:
|
|
|
m_ManualMoveDis.x -= MoveDis;
|
|
|
break;
|
|
|
case _DIR_R:
|
|
|
m_ManualMoveDis.x += MoveDis;
|
|
|
break;
|
|
|
case _DIR_U:
|
|
|
m_ManualMoveDis.y += MoveDis;
|
|
|
break;
|
|
|
case _DIR_D:
|
|
|
m_ManualMoveDis.y -= MoveDis;
|
|
|
break;
|
|
|
default:
|
|
|
return;
|
|
|
break;
|
|
|
}
|
|
|
//保证在限定范围之内
|
|
|
if(m_ManualMoveDis.x>m_MaxManualMoveDis)
|
|
|
m_ManualMoveDis.x = m_MaxManualMoveDis;
|
|
|
else if(m_ManualMoveDis.x < m_MaxManualMoveDis*(-1))
|
|
|
m_ManualMoveDis.x = m_MaxManualMoveDis*(-1);
|
|
|
|
|
|
if(m_ManualMoveDis.y>m_MaxManualMoveDis)
|
|
|
m_ManualMoveDis.y = m_MaxManualMoveDis;
|
|
|
else if(m_ManualMoveDis.y < m_MaxManualMoveDis*(-1))
|
|
|
m_ManualMoveDis.y = m_MaxManualMoveDis*(-1);
|
|
|
}
|
|
|
#endif
|
|
|
//获取XY 轴一个像素移动的距离
|
|
|
Dbxy CPlatformXY::GetMotorXYOnePulseDis()
|
|
|
{
|
|
|
Dbxy MotorXYOnePulseDis;
|
|
|
MotorXYOnePulseDis.x = m_MotorX.GetOnePulseDis();
|
|
|
MotorXYOnePulseDis.y = m_MotorY.GetOnePulseDis();
|
|
|
return MotorXYOnePulseDis;
|
|
|
}
|
|
|
|
