virtual public bool Move(MapAGVPosition end, double lineVelocity, double lineAcc, double lineDec, double lineJerk, double thetaVelocity, double thetaAcc, double thetaDec, double thetaJerk)
{
if (mipcControl.AGV_Move(end, lineVelocity, lineAcc, lineDec, lineJerk, thetaVelocity, thetaAcc, thetaDec, thetaJerk))
{
MapAGVPosition now = localData.Real;
double distance = 10000;
if (now != null)
{
distance = computeFunction.GetDistanceFormTwoAGVPosition(now, end) * 2;
}
if (lineVelocity != eq.Velocity)
{
SimulateControl.SetMoveCommandSimulateData(distance, lineVelocity, lineAcc, lineDec, lineJerk);
}
else
{
SimulateControl.SetMoveCommandSimulateData(distance, lineVelocity, lineAcc, lineDec, lineJerk, false);
}
localData.MoveControlData.MotionControlData.PreMoveStatus = EnumAxisMoveStatus.PreMove;
return(true);
}
else
{
return(false);
}
}
private void button_CommandStart_Click(object sender, EventArgs e)
{
//if (localData.MoveControlData.MotionControlData.MoveStatus != EnumAxisMoveStatus.Stop)
// return;
button_CommandStart.Enabled = false;
if (localData.AutoManual == EnumAutoState.Manual && localData.MoveControlData.MoveCommand == null && localData.LoadUnloadData.CommandStatus == EnumCommandStatus.Idle)
{
double mapX;
double mapY;
double mapTheta;
double lineVelocity;
double lineAcc;
double lineDec;
double lineJerk;
double thetaVelocity;
double thetaAcc;
double thetaDec;
double thetaJerk;
if (double.TryParse(tB_X.Text, out mapX) && double.TryParse(tB_Y.Text, out mapY) && double.TryParse(tB_Angle.Text, out mapTheta) &&
double.TryParse(tB_LineVelocity.Text, out lineVelocity) && double.TryParse(tB_LineAcc.Text, out lineAcc) &&
double.TryParse(tB_LineDec.Text, out lineDec) && double.TryParse(tB_LineJerk.Text, out lineJerk) &&
double.TryParse(tB_ThetaVelocity.Text, out thetaVelocity) && double.TryParse(tB_ThetaAcc.Text, out thetaAcc) &&
double.TryParse(tB_ThetaDec.Text, out thetaDec) && double.TryParse(tB_ThetaJerk.Text, out thetaJerk) &&
lineVelocity > 0 && lineAcc > 0 && lineDec > 0 && lineJerk > 0 &&
thetaVelocity > 0 && thetaAcc > 0 && thetaDec > 0 && thetaJerk > 0)
{
MapAGVPosition agvPosition = new MapAGVPosition();
agvPosition.Position = new MapPosition(mapX, mapY);
agvPosition.Angle = mapTheta;
mipcControl.AGV_Move(agvPosition, lineVelocity, lineAcc, lineDec, lineJerk, thetaVelocity, thetaAcc, thetaDec, thetaJerk);
}
else
{
MessageBox.Show("有資料輸入錯誤");
}
}
else
{
MessageBox.Show("Auto 或 半自動移動中 無法使用");
}
button_CommandStart.Enabled = true;
}