/// <summary>
/// 初始化控制参数
/// </summary>
/// <param name="cardNo">控制卡号</param>
/// <param name="nodeID">运动轴站号</param>
/// <param name="cordinateType">坐标系类型</param>
public ControlParamBase(ushort[] nodeID, CordinateType cordinateType = CordinateType.Absolute)
{
if (nodeID == null)
throw new ArgumentNullException("运动轴站号数组为空");
this.NodeID = (ushort[])nodeID.Clone();
this.CordinateType = cordinateType;
}
private static CordinateType JsonToCordinate(JToken token)
{
var retval = new CordinateType();
retval.X = (int)token["x"];
retval.Y = (int)token["y"];
return(retval);
}
/// <summary>
/// 初始化线性运动控制参数
/// </summary>
/// <param name="nodeID">运动轴站号</param>
/// <param name="disArray">运动距离</param>
/// <param name="cordinateType">坐标系类型，默认为绝对坐标系</param>
public MoveLineParam(ushort[] nodeID, int[] disArray, CordinateType cordinateType = CordinateType.Absolute)
: base(nodeID, cordinateType)
{
if (disArray == null)
throw new ArgumentNullException("运动距离数组为空");
if (nodeID.Length != disArray.Length)
throw new ArgumentException("运动站号数与提供的运动距离数据量不同");
if (nodeID.Length > 5)
throw new ArgumentException("超过了最大可同动轴数量");
this.DisArray = disArray;
}
/// <summary>
/// 初始化圆弧运动控制参数
/// </summary>
/// <param name="nodeID">运动轴站号</param>
/// <param name="angle">圆弧角度</param>
/// <param name="centerArray">中心坐标</param>
/// <param name="cordinateType">指示是否在绝对坐标系下运动,默认为绝对坐标系</param>
public InterCirParam( ushort[] nodeID, int[] centerArray, double angle, CordinateType cordinateType = CordinateType.Absolute)
: base(nodeID, cordinateType)
{
if (centerArray == null)
throw new ArgumentNullException("运动距离数组为空");
if (nodeID.Length != 2)
throw new ArgumentException("插补轴的数量应为2");
if (nodeID.Length != centerArray.Length)
throw new ArgumentException("运动站号数与提供的运动距离数据量不同");
this.Angle = angle;
this.CenterArray = centerArray;
}
