//给单片机发送非电机轴的指令，仅指令，无参数
public void SendCommandToArm(Board board, ArmCommandCode Code)
{
if (!IsBoardConnected(board))
{
return;
}
Message.MakeSendArrayByCode((byte)Code, ref m_SendMeas);
m_MyTcpClientArm[(int)board].ClientWrite(m_SendMeas);
}
public static void ProcessArmControlerMessage(Board board, TcpMeas meassage)
{
if (meassage != null)
{
ArmCommandCode Code = (ArmCommandCode)meassage.MeasCode;
switch (Code)
{
case ArmCommandCode.GetOutput: //读取输出口缓冲区数据
{
} break;
case ArmCommandCode.GetInput: //读取输入口的IO
{
int DataIndex = Message.MessageCommandIndex + 1;
uint dataInput = (uint)meassage.Param[DataIndex + 3] * 0x1000000
+ (uint)meassage.Param[DataIndex + 2] * 0x10000
+ (uint)meassage.Param[DataIndex + 1] * 0x100
+ (uint)meassage.Param[DataIndex + 0];
m_ArmControler.SetInputPoint(board, dataInput);
ProcessArmControlerInputPoint(board);
} break;
case ArmCommandCode.GetAxisStepsAbs:
{
int DataIndex = Message.MessageCommandIndex + 2;
uint steps = (uint)meassage.Param[DataIndex + 3] * 0x1000000
+ (uint)meassage.Param[DataIndex + 2] * 0x10000
+ (uint)meassage.Param[DataIndex + 1] * 0x100
+ (uint)meassage.Param[DataIndex + 0];
Axis axis = (Axis)meassage.Param[Message.MessageCommandIndex + 1];
m_ArmControler.SetAxisPostion(axis, steps);
ProcessArmControlerAxisPosition(board);
}
break;
case ArmCommandCode.GetAxisState:
{
Axis AxisNum = (Axis)meassage.Param[Message.MessageCommandIndex + 1];
byte State = meassage.Param[Message.MessageCommandIndex + 2];
m_ArmControler.SetAxisState(AxisNum, State);
}
break;
default:
break;
}
}
}
//给单片机发送电机轴相关的指令，axis 轴号， code命令
public bool SendCommandToArmWithAxis(Axis axis, ArmCommandCode Code)
{
int indexBoard = (int)axis / MAX_AXIS_CHANNEL; //板卡索引
int indexAxis = (int)axis % MAX_AXIS_CHANNEL; //板卡内轴号索引
if (!IsBoardConnected((Board)indexBoard))
{
return(false);
}
Message.MakeSendArrayByCode((byte)Code, ref m_SendMeas);
m_SendMeas[Message.MessageCommandIndex + 1] = (byte)indexAxis;
m_SendMeas[Message.MessageSumCheck] = MyMath.CalculateSum(m_SendMeas, Message.MessageLength);
m_MyTcpClientArm[indexBoard].ClientWrite(m_SendMeas);
return(true);
}
/// <summary>
/// 设置电机轴速度参数
/// </summary>
/// <param name="axis">轴号</param>
/// <param name="velLow">初速度</param>
/// <param name="velHigh">运行速度</param>
/// <param name="acc">加速度</param>
/// <param name="dec">减速度</param>
/// <param name="Default">是否为默认值</param>
public bool SetSpeedParam(Axis axis, int velLow, int velHigh, int acc, int dec, bool Default)
{
int indexBoard = (int)axis / MAX_AXIS_CHANNEL; //板卡索引
int indexAxis = (int)axis % MAX_AXIS_CHANNEL; //板卡内轴号索引
if (!IsBoardConnected((Board)indexBoard))
{
return(false);
}
ArmCommandCode Code = Default ? ArmCommandCode.SetAxisParametersDefault : ArmCommandCode.SetAxisParameters;
Message.MakeSendArrayByCode((byte)Code, ref m_SendMeas);
int DataIndex = Message.MessageCommandIndex + 1;
m_SendMeas[DataIndex] = (byte)indexAxis;
m_SendMeas[DataIndex + 1] = (byte)(velLow & 0xffU);
m_SendMeas[DataIndex + 2] = (byte)((velLow >> 8) & 0xffU);
m_SendMeas[DataIndex + 3] = (byte)((velLow >> 16) & 0xffU);
m_SendMeas[DataIndex + 4] = (byte)((velLow >> 24) & 0xffU);
m_SendMeas[DataIndex + 5] = (byte)(velHigh & 0xffU);
m_SendMeas[DataIndex + 6] = (byte)((velHigh >> 8) & 0xffU);
m_SendMeas[DataIndex + 7] = (byte)((velHigh >> 16) & 0xffU);
m_SendMeas[DataIndex + 8] = (byte)((velHigh >> 24) & 0xffU);
m_SendMeas[DataIndex + 9] = (byte)(acc & 0xffU);
m_SendMeas[DataIndex + 10] = (byte)((acc >> 8) & 0xffU);
m_SendMeas[DataIndex + 11] = (byte)((acc >> 16) & 0xffU);
m_SendMeas[DataIndex + 12] = (byte)((acc >> 24) & 0xffU);
m_SendMeas[DataIndex + 13] = (byte)(dec & 0xffU);
m_SendMeas[DataIndex + 14] = (byte)((dec >> 8) & 0xffU);
m_SendMeas[DataIndex + 15] = (byte)((dec >> 16) & 0xffU);
m_SendMeas[DataIndex + 16] = (byte)((dec >> 24) & 0xffU);
m_SendMeas[Message.MessageSumCheck] = MyMath.CalculateSum(m_SendMeas, Message.MessageLength);
m_MyTcpClientArm[indexBoard].ClientWrite(m_SendMeas);
return(true);
}
