public clsAlignment()
{
MotorTable = new MotorTable();
motors = new Dictionary <MotorType, MotorParameters>();
motors.Add(MotorType.X_Axis, new MotorParameters());
motors.Add(MotorType.Y_Axis, new MotorParameters());
motors.Add(MotorType.θ_Axis, new MotorParameters());
if (!File.Exists(MotorTable.FileName + ".xml"))
{
CreateMotorTable();
}
LoadMotorTable();
InitializeEcat();
motorStatus = new MotorStatus();
motorStatus.Initialize();
RunMotor = MotorType.X_Axis;
RunPoint = 0;
moveDelayTime.Tick += MoveDelayTime_Tick;
moveDelayTime.Interval = 1000;
alignmentSensor = new clsCognexAS200();
alignmentSensor.SocketPara.InitializeConnect_ChkRet(false);
while (alignmentSensor.SocketPara.InitializeConnect_ChkRet() != conProg.process.Success)
{
System.Windows.Forms.Application.DoEvents();
}
calibrationTable = new DataTable();
calibrationTable.Columns.Add("X_Axis");
calibrationTable.Columns.Add("Y_Axis");
calibrationTable.Columns.Add("θ_Axis");
}
/// <summary>
/// 創建馬達參數表初始資料
/// </summary>
private void CreateMotorTable()
{
MotorTable.AddDevice(0, 1, 0, "X_Axis", 0, 1, 1, 3000);
MotorTable.AddDevice(0, 2, 0, "Y_Axis", 0, 1, 1, 3000);
MotorTable.AddDevice(0, 3, 0, "θ_Axis", 0, 1, 1, 3000);
MotorTable.AddPoint("X_Axis", "Home", MotorTablePointType.Forward, 0, 0, 50, 0.5, 0.5);
MotorTable.AddPoint("Y_Axis", "Home", MotorTablePointType.Forward, 0, 0, 50, 0.5, 0.5);
MotorTable.AddPoint("θ_Axis", "Home", MotorTablePointType.Forward, 0, 0, 50, 0.5, 0.5);
MotorTable.Save();
}
/// <summary>
/// 讀取馬達參數表
/// </summary>
private void LoadMotorTable()
{
MotorTable.Load();
MotorParameters temporaryStorage_1 = new MotorParameters();
MotorParameters temporaryStorage_2 = new MotorParameters();
MotorParameters temporaryStorage_3 = new MotorParameters();
MotorTable.GetMotorParameter("X_Axis", ref temporaryStorage_1);
motors[MotorType.X_Axis] = temporaryStorage_1;
MotorTable.GetMotorParameter("Y_Axis", ref temporaryStorage_2);
motors[MotorType.Y_Axis] = temporaryStorage_2;
MotorTable.GetMotorParameter("θ_Axis", ref temporaryStorage_3);
motors[MotorType.θ_Axis] = temporaryStorage_3;
}
