/// <summary>
/// 坐标转换（倾斜状态）： 喷嘴距离基板高度 -> Z轴坐标
/// </summary>
/// <param name="needleBoard">距板高度</param>
/// <param name="boardHeight">基板测高值</param>
/// <returns></returns>
public static double NeedleBoard2Z(double needleBoard, double boardHeight, TiltType tiltType)
{
Log.Dprint("NeedleBoard2Z needleBoard=" + needleBoard + ", boardHeight=" + boardHeight
+ ", StandardZ=" + Machine.Instance.Robot.CalibPrm.StandardZ + ", StandardHeight=" + Machine.Instance.Robot.CalibPrm.StandardHeight);
if (tiltType == TiltType.NoTilt)
{
return(needleBoard + Machine.Instance.Robot.CalibPrm.StandardZ + (boardHeight - Machine.Instance.Robot.CalibPrm.StandardHeight));
}
else
{
List <AngleHeightPosOffset> curTiltCalibPrms = Machine.Instance.Robot.CalibPrm.AngleHeightPosOffsetList.FindAll(t => t.TiltType.Equals(tiltType));
if (curTiltCalibPrms.Count <= 0)
{
return(0);
}
AngleHeightPosOffset curTiltCalibPrm = curTiltCalibPrms.Find(t => t.Gap.Equals(needleBoard));
if (curTiltCalibPrm == null)
{
return(0);
}
else
{
if (curTiltCalibPrm.Gap <= 0.0001)
{
return(0);
}
else
{
return(curTiltCalibPrm.Gap + curTiltCalibPrm.StandardZ + (boardHeight - Machine.Instance.Robot.CalibPrm.StandardHeight));
}
}
}
}
public void Setup(object[] objs)
{
this.tiltType = (TiltType)objs[0];
this.posZ = (double)objs[1];
this.angle = (double)objs[2];
this.offset = (PointD)objs[3];
}
private void btnChangePosture_Click(object sender, EventArgs e)
{
Machine.Instance.Robot.MoveSafeZ();
//TODO 根据选择切换气缸
switch (this.cbxPosture.SelectedIndex)
{
case 0:
this.tiltType = TiltType.NoTilt;
break;
case 1:
this.tiltType = TiltType.LTilt;
break;
case 2:
this.tiltType = TiltType.RTilt;
break;
case 3:
this.tiltType = TiltType.FTilt;
break;
case 4:
this.tiltType = TiltType.BTilt;
break;
}
this.Angle = this.txtAngle.Value;
Machine.Instance.Robot.MovePosU(this.txtAngle.Value);
Machine.Instance.Valve1.CurTilt = this.tiltType;
}
/// <summary>
/// 相机坐标转换倾斜喷嘴坐标
/// </summary>
/// <param name="point"></param>
/// <param name="valveType"></param>
/// <param name="tiltType"></param>
/// <returns></returns>
public static PointD ToNeedle(this PointD point, ValveType valveType, TiltType tiltType)
{
PointD rtn = null;
if (valveType == ValveType.Valve1 || valveType == ValveType.Both)
{
if (tiltType == TiltType.NoTilt)
{
return(rtn = (point.ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleCamera1 - Machine.Instance.Robot.CalibPrm.NeedleJet1).ToPoint().ToMachine());
}
AngleHeightPosOffset curTiltCalibPrm = Machine.Instance.Robot.CalibPrm.AngleHeightPosOffsetList.Find(t => t.TiltType.Equals(tiltType));
if (curTiltCalibPrm == null)
{
return(null);
}
rtn = (point.ToSystem() + curTiltCalibPrm.ValveCameraOffset - curTiltCalibPrm.DispenseOffset).ToPoint().ToMachine();
}
else
{
if (Machine.Instance.Setting.DualValveMode != DualValveMode.跟随)
{
rtn = new PointD(
point.X + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X - Machine.Instance.Robot.CalibPrm.NeedleJet2.X + Math.Abs(Machine.Instance.Robot.PosA),
point.Y + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y - Machine.Instance.Robot.CalibPrm.NeedleJet2.Y + Math.Abs(Machine.Instance.Robot.PosB));
}
else
{
rtn = new PointD(
point.X + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X - Machine.Instance.Robot.CalibPrm.NeedleJet2.X,
point.Y + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y - Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
}
return(rtn);
}
public void Setup(object[] objs)
{
dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
this.tileType = (TiltType)objs[0];
this.valveAngle = (double)objs[1];
this.valveCameraOffset = (PointD)objs[2];
this.standardZ = (double)objs[3];
}
public TiltEntry(TiltType type, string origLine, float min, float max, bool range = true)
{
this.origLine = origLine;
this.tiltType = type;
this.min = min;
this.max = max;
this.range = range;
}
/// <summary>
/// 胶阀倾斜到位
/// </summary>
/// <param name="tiltType"></param>
/// <param name="velU"></param>
/// <param name="accU"></param>
/// <returns></returns>
public Result ChangeValveTiltStatus(TiltType tiltType, double velU, double accU)
{
Result ret = Result.OK;
// 倾斜到位(胶阀当前倾斜状态不等于轨迹倾斜状态时执行)
if (tiltType != Machine.Instance.Valve1.CurTilt && (Machine.Instance.Robot.RobotIsXYZU || Machine.Instance.Robot.RobotIsXYZUV))
{
// 回到安全高度再变方向
if (Machine.Instance.Robot.PosZ < Machine.Instance.Robot.CalibPrm.SafeZ)
{
ret = Machine.Instance.Robot.MoveSafeZAndReply();
if (!ret.IsOk)
{
return(ret);
}
}
if (Machine.Instance.Robot.RobotIsXYZUV)
{
// todo 四方位旋转气缸动作
}
//U轴倾斜
AngleHeightPosOffset tiltValvePrm = Machine.Instance.Robot.CalibPrm.AngleHeightPosOffsetList.Find(t => t.TiltType.Equals(tiltType));
if (tiltValvePrm == null)
{
return(Result.FAILED);
}
if (velU == 0 || accU == 0)
{
return(Result.FAILED);
}
ret = Machine.Instance.Robot.MovePosUAndReply(tiltValvePrm.ValveAngle, velU, accU);
if (!ret.IsOk)
{
return(ret);
}
else
{
Machine.Instance.Valve1.CurTilt = tiltType;
}
}
return(ret);
}
public void Setup(object[] objs)
{
this.tiltType = (TiltType)objs[0];
this.valveAngle = (double)objs[1];
}
public string Initialize(string filePath, string[] dataLines, bool flipBytes, bool syncListViaNetcore)
{
//Ignore flipbytes, as this list works differently
int line = 2;
foreach (string s in dataLines)
{
string workingString = s.Replace("f", "").Replace("F", "").Replace(" ", "").ToUpper();
string origLine = workingString;
var m = entryRegex.Match(workingString);
if (m == null || !m.Success)
{
throw new Exception($"Error loading {filePath}: Unable to parse line {line}, parse failed");
}
TiltType type = TiltType.ADD;
try
{
//Type
if (m.Groups["type"].Success)
{
switch (m.Groups[2].Value)
{
case "ADD":
break;
case "SUB":
type = TiltType.SUB;
break;
case "MUL":
type = TiltType.MUL;
break;
case "DIV":
type = TiltType.DIV;
break;
case "SET":
type = TiltType.SET;
break;
default:
break;
}
}
bool range = false;
float min = 0;
float max = 0;
if (m.Groups["range"].Success)
{
range = true;
//6/7
min = float.Parse(m.Groups[4].Value, culture);
max = float.Parse(m.Groups[5].Value, culture);
}
else
{
//9
min = float.Parse(m.Groups[9].Value, culture);
}
TiltEntry entry = new TiltEntry(type, origLine, min, max, range);
entries.Add(entry);
}
catch (Exception ex)
{
throw new Exception($"Error loading {filePath}: Unable to parse line {line}, float parse failed. Exception:\r\n{ex}");
}
line++;
}
if (entries.Count == 0)
{
throw new Exception($"Error loading {filePath}: List empty");
}
var name = Path.GetFileNameWithoutExtension(filePath);
string hash = Filtering.RegisterList(this, name, syncListViaNetcore);
return(hash);
}
