private void executePlan()
{
if (!Cnc.IsHomeCalibrated)
{
ShowError("Calibration is required!");
return;
}
disableMotionCommands();
Workspace.DisableChanges();
var builder = new PlanBuilder();
var point = Workspace.EntryPoint;
var state = Cnc.PlannedState;
var initU = point.PositionC1 - state.U;
var initV = point.PositionC2 - state.V;
var initX = point.PositionC1 - state.X;
var initY = point.PositionC2 - state.Y;
builder.AddRampedLineUVXY(initU, initV, initX, initY, Configuration.MaxPlaneAcceleration, getTransitionSpeed());
try
{
Workspace.BuildPlan(builder);
}
catch (PlanningException ex)
{
planCompleted();
ShowError(ex.Message);
return;
}
//builder.AddRampedLineUVXY(-initU, -initV, -initX, -initY, Constants.MaxPlaneAcceleration, getTransitionSpeed());
var plan = builder.Build();
if (!Cnc.SEND(plan))
{
planCompleted();
ShowError("Plan overflows the workspace!");
return;
}
Cnc.OnInstructionQueueIsComplete += planCompleted;
_planStart = DateTime.Now;
_isPlanRunning = true;
if (!plan.Any())
{
planCompleted();
}
}
private void Execute(IEnumerable <InstructionCNC> plan, bool duplicateUV = true)
{
if (duplicateUV)
{
var builder = new PlanBuilder();
builder.Add(plan);
builder.DuplicateXYtoUV();
_cnc.SEND(builder.Build());
}
else
{
_cnc.SEND(plan);
}
}
public void SetPosition(int newPosition)
{
var steps = newPosition - _currentPosition;
var builder = new Planning.PlanBuilder();
//builder.AddRampedSteps(steps, Constants.FastestDeltaT);
builder.AddConstantSpeedTransitionXY(steps, steps, Configuration.ReverseSafeSpeed);
builder.DuplicateXYtoUV();
_cnc.SEND(builder.Build());
//position setting is blocking for now
while (_cnc.IncompleteInstructionCount > 0)
{
System.Threading.Thread.Sleep(1);
}
_currentPosition = newPosition;
}
private void sendNewPlan()
{
if (_currentDeltaT != _desiredDeltaT)
{
_currentDeltaT = _desiredDeltaT;
}
var stepCount = (Int16)(Math.Max(2, 20000 / _currentDeltaT));
var sendStepCount = Direction ? (Int16)(-stepCount) : stepCount;
var remainder = (UInt16)(_desiredDeltaRemainder * stepCount);
var instruction = new ConstantInstruction(sendStepCount, _currentDeltaT, remainder);
_cnc.SEND(Axes.UVXY(instruction, instruction, instruction, instruction));
var plannedTime = stepCount * _currentDeltaT;
_plannedTimeTotal += plannedTime;
_plannedTimes.Enqueue(plannedTime);
}
private void sendInstruction(StepInstrution planeInstruction1, StepInstrution planeInstruction2)
{
StepInstrution u, v, x, y;
u = v = x = y = null;
if (_moveUV)
{
u = planeInstruction1;
v = planeInstruction2;
}
if (_moveXY)
{
x = planeInstruction1;
y = planeInstruction2;
}
_cnc.SEND(Axes.UVXY(u, v, x, y));
}
