public void HomeXY()
{
//_selectAxis = Convert.ToInt32(cmbSelectAxis.SelectedItem);
int homeMode = 0;
int homeDir = 1;
double praCurve = 0.5;
double praAcc = 100000;
double praVmX = 5000;
double praVmY = 20000;
double curX, curY;
Task taskX = null;
Task taskY = null;
curX = -1;
curY = -1;
if (IsInitialed == false)
{
return;
}
GetPostionAbs(ref curX, ref curY);
if (curX != 0 || curY != 0)
{
taskX = new Task(() => Class_8338.StartHoming(_selectAxisX, homeMode, homeDir, praCurve, praAcc, praVmX));
taskY = new Task(() => Class_8338.StartHoming(_selectAxisY, homeMode, homeDir, praCurve, praAcc, praVmY));
taskX.Start();
taskY.Start();
}
}
public bool InitialFixture(int cardId)
{
CardId = cardId;
int boardIdInBits = 0;
int ret = Class_8338.Initial(CardId);//初始化
if (ret != 0)
{
Class_8338.Close();
return(false);
}
ret = Class_8338.StartFieldBUS(CardId, ref StartAxisId);
if (ret < 0)//连接失败
{
return(false);
}
if (File.Exists(txtXmlFilename))
{
ret = Class_8338.LoadXMLFile(txtXmlFilename);
if (ret != 0)
{
return(false);
}
}
IsInitialed = true;
return(true);
}
public void MovePT_Line(int x, int y)
{
int[] Axis_ID = new int[2] {
_selectAxisX, _selectAxisY
};
double[] Position = new double[2] {
x, y
};
Class_8338.Interpolation_2D_line_move(Axis_ID, Position, false);
}
public void Scan()
{
int Y_Start = 0;
int Y_End = 300000;
double Acc = 80000.0; //设置加速度
double Dec = 80000.0; //设置减速度
int Vm = 100000; //设置最大速度
// move to origial postion
MovePT_Line(0, 0);
//open scanner
m_objScanner.StartGetPoint();
int ret = Class_8338.AbsluteMove(_selectAxisY, Y_End, Acc, Dec, Vm);//开始绝对
m_objScanner.StopGetPoint();
ret = Class_8338.AbsluteMove(_selectAxisY, Y_Start, Acc, Dec, Vm);//开始绝对运动
}
public void ServoOn(bool onOff)
{
if (IsInitialed == false)
{
return;
}
int ret = Class_8338.Servo(_selectAxisX);
if (ret < 0)
{
System.Windows.Forms.MessageBox.Show("ServerOn _selectAxisX fail");
}
ret = Class_8338.Servo(_selectAxisY);
if (ret < 0)
{
System.Windows.Forms.MessageBox.Show("ServerOn _selectAxisY fail");
}
}
public double ReadSickValue()
{
double AnalogValue = 0;
const int an_subNo = 5;
const int an_channel = 0;
int Analog = 0;
uint value = 0;
int ODIndex;//索引
int live;
if (IsInitialed == false)
{
return(-1);
}
Class_8338.GetSlaveOnlineStatus(CardId, MOD_No_AI, out live);
if (live == 33)
{
ODIndex = decimal.ToInt16(an_channel);
Class_8338.GetInputStatus(CardId, MOD_No_AI, an_subNo, ODIndex, ref value);
if (IsNBitOne(value, 16)) //判断 16bit 位是不是 1
{
Analog = ((int)value ^ (int)(Math.Pow(2, 15) - 1)) + 1; //如果第 16 位是1，则电压值为 负值 ，先去除符号位
AnalogValue = ((Analog - Math.Pow(2, 15)) / (Math.Pow(2, 15) - 1)) * (-10); //计算实际电压
}
else
{
AnalogValue = (value / (Math.Pow(2, 15))) * 10;
}
AnalogValue = AnalogValue * (-103.7) + 2.1;
AnalogValue = 794.49 - AnalogValue;
}
return(AnalogValue);
}
public void GetLineValues(int pxStart, int pyStart, int pxEnd, int pyEnd, ref List <LineData> data)
{
LineData tempDate = new LineData();
int[] Axis_ID = new int[2] {
_selectAxisX, _selectAxisY
};
double[] PositionStart = new double[2] {
pxStart, pyStart
};
double[] PositionEnd = new double[2] {
pxEnd, pyEnd
};
Class_8338.Interpolation_2D_line_move(Axis_ID, PositionStart, false);
//add start
tempDate.X = pxStart;
tempDate.Y = pyStart;
tempDate.Z = ReadSickValue();
data.Add(tempDate);
Class_8338.Interpolation_2D_line_moveNowait(Axis_ID, PositionEnd, false);
int motionStatusMdn = 5;
while ((APS168.APS_motion_status(Axis_ID[0]) & 1 << motionStatusMdn) == 0 && (APS168.APS_motion_status(Axis_ID[1]) & 1 << motionStatusMdn) == 0)
{
Thread.Sleep(300);
tempDate.Z = ReadSickValue();
GetPostionAbs(ref tempDate.X, ref tempDate.Y);
data.Add(tempDate);
}
//add end
tempDate.X = pxEnd;
tempDate.Y = pyEnd;
tempDate.Z = ReadSickValue();
data.Add(tempDate);
}
