private void button_AMove_Click(object sender, EventArgs e)
{
double ratio_ = Convert.ToDouble(this.numericUpDown_ratio.Value);
double pos_ = Convert.ToDouble(this.numericUpDown_Pos.Value);
Motion.Axis(axisId_).AbsMove(pos_, ratio_);
}
private void button_RMoveN_Click(object sender, EventArgs e)
{
double ratio_ = Convert.ToDouble(this.numericUpDown_ratio.Value);
double dist_ = Convert.ToDouble(this.numericUpDown_Dis.Value);
Motion.Axis(axisId_).RelMove(-dist_, ratio_);
}
private void button2_Click(object sender, EventArgs e)
{
//运动测试
const int posNum_ = 5;
double[] posX = new double[posNum_] {
0, 100, 100, 0, 0
};
double[] posY = new double[posNum_] {
0, 0, 100, 100, 0
};
int times_ = Convert.ToInt32(numericUpDown_Times.Value);
while (times_-- > 0)
{
for (int i = 0; i < posNum_; i++)
{
Motion.Axis(X).AbsMove(posX[i]);
Motion.Axis(Y).AbsMove(posY[i]);
Motion.Axis(X).MotionDone();
Motion.Axis(Y).MotionDone();
}
}
}
public DebugUi()
{
InitializeComponent();
int i, j = 0;
this.dataGridView_Axis.Rows.Clear();
this.dataGridView_Axis.Rows.Add(Motion.AxisNum);
_bitGreen = _GenColorImage(Color.Green);
_bitGray = _GenColorImage(Color.LightGray);
_bitRed = _GenColorImage(Color.Red);
_bitMagent = _GenColorImage(Color.DarkMagenta);
for (i = 0; i < Motion.AxisNum; i++)
{
j = 0;
// this.dataGridView_Axis.Rows[i].HeaderCell.Value = i.ToString();
this.dataGridView_Axis.Rows[i].Cells[j++].Value = i.ToString();
this.dataGridView_Axis.Rows[i].Cells[j++].Value = Motion.Axis(i).name;
this.dataGridView_Axis.Rows[i].Cells[j++].Value = "0.000";
this.dataGridView_Axis.Rows[i].Cells[j++].Value = "0.000";
this.dataGridView_Axis.Rows[i].Cells[10].Value = "配置";
}
}
private void dataGridView_Axis_CellContentClick(object sender, DataGridViewCellEventArgs e)
{
try
{
if (e.RowIndex < 0 || e.RowIndex >= Motion.AxisNum)
{
return;
}
switch (e.ColumnIndex)
{
case 9:
bool cmd_ = Convert.ToBoolean(this.dataGridView_Axis.Rows[e.RowIndex].Cells[e.ColumnIndex].EditedFormattedValue);
Motion.Axis(e.RowIndex).SetEnabled(cmd_);
break;
case 10:
AxisConfig a = new AxisConfig(e.RowIndex);
a.ShowDialog(this);
break;
}
}
catch (Exception ex)
{
MessageBox.Show(ex.Message);
}
}
private void button7_Click(object sender, EventArgs e)
{
//线性模式触发
double start = -10;
double interval = 10;
int number = 10;
int err = 0;
err = Motion.Axis(X).TriggerLinear(0, start, interval, number);
}
private void dataGridView_Axis_SelectionChanged(object sender, EventArgs e)
{
if (dataGridView_Axis.CurrentRow.Index < 0 || dataGridView_Axis.CurrentRow.Index >= Motion.AxisNum)
{
splitContainer1.Panel2.Enabled = false;
return;
}
splitContainer1.Panel2.Enabled = true;
axisId_ = dataGridView_Axis.CurrentRow.Index;
label_Name.Text = Motion.Axis(axisId_).name;
}
private void timer1_Tick(object sender, EventArgs e)
{
int j = 0;
for (int i = 0; i < Motion.AxisNum; i++)
{
j = 2;
MotionIO mio_ = Motion.Axis(i).MIO;
this.dataGridView_Axis.Rows[i].Cells[j++].Value = Motion.Axis(i).CmdPos.ToString();
this.dataGridView_Axis.Rows[i].Cells[j++].Value = Motion.Axis(i).FbkPos.ToString();
this.dataGridView_Axis.Rows[i].Cells[j++].Value = mio_.NEL ? _bitMagent : _bitGray;
this.dataGridView_Axis.Rows[i].Cells[j++].Value = mio_.PEL ? _bitMagent : _bitGray;
this.dataGridView_Axis.Rows[i].Cells[j++].Value = mio_.Moving ? _bitGray : _bitGreen;
this.dataGridView_Axis.Rows[i].Cells[j++].Value = mio_.Alarm ? _bitRed : _bitGray;
this.dataGridView_Axis.Rows[i].Cells[j++].Value = mio_.Enabled ? _bitGreen : _bitGray;
}
}
private void button4_Click(object sender, EventArgs e)
{
//点表模式触发
double start = 80;
double interval = -10;
int number = 10;
int err = 0;
var ch0 = new List <double>();
var ch1 = new List <double>();
for (int i = 0; i < number; i++)
{
ch0.Add(start + i * interval);
ch1.Add(start + i * interval + 1);
}
err = Motion.Axis(X).TriggerData(ch0, ch1);
}
public AxisConfig(int i)
{
InitializeComponent();
axis = Motion.Axis(i);
this.Text = string.Format("轴{0}: {1}", axis.id, axis.name);
this.textBox_Id.Text = axis.id.ToString();
this.textBox_Name.Text = axis.name;
this.textBox_Pulse.Text = axis.plsPerMm.ToString();
this.comboBox_Home.SelectedIndex = (int)axis.homePara.mode;
this.textBox_HomeAcc.Text = axis.homePara.acc.ToString();
this.textBox_HomeVel.Text = axis.homePara.vel.ToString();
this.textBox_Offset.Text = axis.homePara.offset.ToString();
this.textBox_HomeTimeout.Text = axis.homePara.maxSeconds.ToString();
this.textBox_Acc.Text = axis.motionPara.acc.ToString();
this.textBox_Vel.Text = axis.motionPara.maxVel.ToString();
this.textBox_Timeout.Text = axis.motionPara.maxSeconds.ToString();
}
private void button6_Click(object sender, EventArgs e)
{
double v_ = 200; // mm/s
double a_ = 2000; // mm/s^2
double trigInterval = 3.0;
double xc = 125, yc = 160; //扫描圆心
double r = 100; //扫描区域半径
Axis AX = Motion.Axis(X);
Axis AY = Motion.Axis(Y);
Point2i axes = new Point2i(X, Y);
double offset = -0.2; //两通道触发间隔
Point2d pos2d_start = new Point2d();
Point2d pos2d_end = new Point2d();
int err_ = 0;
int direction_ = 0;
bool use_tirgger_data = false;
for (int i = 0; i < 2 * r / trigInterval - 1; i++)
{
//step0: 计算点位
direction_ = (i % 2 == 0) ? 1 : -1;
pos2d_start.y = yc - r + trigInterval * (i + 1);
pos2d_start.x = xc - direction_ * Math.Sqrt(r * r - (pos2d_start.y - yc) * (pos2d_start.y - yc));
pos2d_end.x = 2 * xc - pos2d_start.x;
pos2d_end.y = pos2d_start.y - 0.3 * direction_; //Y适当错位，模拟斜着运动扫描（这里模拟走一个圆）
Console.WriteLine("{0}: ({1}, {2}) -> ({3}, {4})", i, pos2d_start.x, pos2d_start.y, pos2d_end.x, pos2d_end.y);
//step1: 运动到起点
//XY移动到起点 AbsMoveOver = AbsMove + MotionDone
//这里也可以用 Motion.Axis(X).AbsMove();
if ((err_ = Motion.AbsMoveOver(axes, pos2d_start)) != 0)
{
MessageBox.Show("Error: " + err_);
return;
}
//step2: 设置触发位置
double triggerPos_ = pos2d_start.x + 0.5 * direction_; //第一个位置和当前位置相距一毫米
//位置列表，绝对位置，单位mm
if (use_tirgger_data)
{
var trigPos0_ = new List <double>();
while ((pos2d_end.x - triggerPos_) * direction_ > 0)
{
trigPos0_.Add(triggerPos_); //通道0触发光源
triggerPos_ += direction_ * trigInterval;
}
if ((err_ = AX.TriggerData(trigPos0_, direction_ * offset)) != 0)
{
MessageBox.Show("Error: " + err_);
return;
}
}
else //等间隔触发，绝对位置，单位mm
{
int triggerCnt_ = (int)((Math.Abs(pos2d_end.x - pos2d_start.x) - 1.0) / trigInterval); //保证最后一个点至少与起点相距0.5mm
if ((err_ = AX.TriggerLinear(triggerPos_, direction_ * trigInterval, triggerCnt_, direction_ * offset)) != 0) //触发相机和光源
{
MessageBox.Show("Error: " + err_);
return;
}
}
//step3: 插补运动
//LineOver = Line+LineDone
if ((err_ = Motion.LineOver(axes, pos2d_end, v_, a_)) != 0)
{
MessageBox.Show("Error: " + err_);
return;
}
//step4: 停止触发并process images
if ((err_ = AX.TriggerStop()) != 0)
{
MessageBox.Show("Error: " + err_);
return;
}
}
}
private void timer1_Tick(object sender, EventArgs e)
{
Motion.Axis(X).SoftwareTrigger(1);
System.Threading.Thread.Sleep(1);
Motion.Axis(X).SoftwareTrigger(0);
}
private void button10_Click(object sender, EventArgs e)
{
//轴上电使能
Motion.Axis(X).SetEnabled(true);
Motion.Axis(Y).SetEnabled(true);
}
private void button_Home_Click(object sender, EventArgs e)
{
Motion.Axis(axisId_).Home();
}
private void button_Clear_Click(object sender, EventArgs e)
{
Motion.Axis(axisId_).ClearAlarm();
}
private void button5_Click(object sender, EventArgs e)
{
Motion.Axis(X).TriggerStop();
}
private void button3_Click(object sender, EventArgs e)
{
Motion.Axis(X).ZeroPos();
Motion.Axis(Y).ZeroPos();
}
private void button9_Click(object sender, EventArgs e)
{
Motion.Axis(X).Home();
Motion.Axis(Y).Home();
}
