public void emergencyStop()
{
RFIDMove.motorStop(ref RFIDMove.mAxis[0]);
RFIDMove.motorStop(ref RFIDMove.mAxis[1]);
RFIDMove.emgStop();
Thread checkInputThread = new Thread(new ThreadStart(this.sendPos));
checkInputThread.Name = "emg stop send pos";
checkInputThread.Start();
enqueable = false;
}
public void horizontalRun(double finalPos, double speed)
{
if (horizontalEnabled)
{
RFIDControl.dmc_write_sevon_pin(0, 0, 0);
Thread.Sleep(10);
horizontalEnabled = false;
xPos = Convert.ToInt32((finalPos * 1000 * RFIDMove.line_coefficient));
RFIDMove.mAxis[0].m_speed_max = Convert.ToInt32((speed * 1000 * RFIDMove.line_coefficient));
RFIDMove.singleAxisMove(ref RFIDMove.mAxis[0], xPos, RFIDMove.ABS_MODE);
// send pos thread
Thread checkInputThread = new Thread(new ThreadStart(this.sendPos));
checkInputThread.Name = "horizontal send pos";
checkInputThread.Start();
enqueable = true;
}
}
public void rotatingRun(double finalAngle, double speed)
{
if (rotatingEnabled)
{
RFIDControl.dmc_write_sevon_pin(0, 1, 0);
Thread.Sleep(10);
rotatingEnabled = false;
RFIDMove.mAxis[1].m_speed_max = Convert.ToInt32((speed * 60 * RFIDMove.cicle_coefficient));
yPos = Convert.ToInt32((finalAngle * 60 * RFIDMove.cicle_coefficient));
RFIDMove.singleAxisMove(ref RFIDMove.mAxis[1], yPos, RFIDMove.ABS_MODE);
// send pos thread
Thread checkInputThread = new Thread(new ThreadStart(this.sendPos));
checkInputThread.Name = "rotating run send pos";
checkInputThread.Start();
enqueable = true;
}
}
//启动
public static void begin()
{
//标记为启动状态
RFIDMove.started = true;
short tmp = RFIDMove.initBoard();
if (tmp == -1)
{
//没有检测到控制卡
Console.WriteLine("没有检测到控制卡！");
}
else
{
Thread moveEventThread = new Thread(new ThreadStart(RFIDMove.moveEventHandle));
moveEventThread.Name = "move event handle";
moveEventThread.Start();
Thread checkInputThread = new Thread(new ThreadStart(RFIDMove.checkInputStatus));
checkInputThread.Name = "check input status";
checkInputThread.Start();
}
}
private void sendPos()
{
bool b = false;
bool b_break_able = false; //第一次进入不退出
long microSecond = 0;
if (RFIDMove.goHomeFlag != 0)
{
b = true;
}
int period = 10;
Thread.Sleep(period);
while (true)
{
//进入临界区
//获取位置信息 通过网络发送位置信息
lock (this)
{
if (enqueable)
{
xNowPos = RFIDControl.dmc_get_encoder(RFIDMove.mAxis[0].m_card_num, RFIDMove.mAxis[0].m_axis_num);
yNowPos = RFIDControl.dmc_get_encoder(RFIDMove.mAxis[1].m_card_num, RFIDMove.mAxis[1].m_axis_num);
xNowPosShow = xNowPos / RFIDMove.line_coefficient / 10; //mm
yNowPosShow = yNowPos / RFIDMove.cicle_coefficient / 10; //mm
microSecond = CurrentMillis.MicroSeconds;
posQueue.Enqueue(new DMCPosDto(xNowPosShow, yNowPosShow, microSecond));
}
}
//离开临界区
Thread.Sleep(10);
if (b_break_able) //第一次循环必须读取一个位置信息，以便发送到目标IP
{
if (b)
{
if (RFIDMove.goHomeFlag == 0)
{
break;
}
}
else if ((RFIDMove.mAxis[0].m_run_status != RFIDMove.RUN) && (RFIDMove.mAxis[1].m_run_status != RFIDMove.RUN))
{
RFIDControl.dmc_set_position(RFIDMove.mAxis[0].m_card_num, RFIDMove.mAxis[0].m_axis_num, xNowPos / 10);
RFIDControl.dmc_set_position(RFIDMove.mAxis[1].m_card_num, RFIDMove.mAxis[1].m_axis_num, yNowPos / 10);
RFIDMove.singleAxisMove(ref RFIDMove.mAxis[0], xPos, RFIDMove.ABS_MODE);
RFIDMove.singleAxisMove(ref RFIDMove.mAxis[1], yPos, RFIDMove.ABS_MODE);
Thread.Sleep(500);
break;
}
}
else
{
b_break_able = true;
}
}
lock (this)
{
if (enqueable)
{
xNowPos = RFIDControl.dmc_get_encoder(RFIDMove.mAxis[0].m_card_num, RFIDMove.mAxis[0].m_axis_num);
yNowPos = RFIDControl.dmc_get_encoder(RFIDMove.mAxis[1].m_card_num, RFIDMove.mAxis[1].m_axis_num);
xNowPosShow = xNowPos / RFIDMove.line_coefficient / 10; //mm
yNowPosShow = yNowPos / RFIDMove.cicle_coefficient / 10; //mm
microSecond = CurrentMillis.MicroSeconds;
posQueue.Enqueue(new DMCPosDto(xNowPosShow, yNowPosShow, microSecond));
}
}
RFIDControl.dmc_write_sevon_pin(0, 0, 1);
RFIDControl.dmc_write_sevon_pin(0, 1, 1);
rotatingEnabled = true;
horizontalEnabled = true;
}
//停止
public static void shutdown()
{
//标记为停止状态 Move.moveEventHandle与Move.checkInputStatus中的循环将停止
RFIDMove.started = false;
RFIDMove.closeBoard();
}
