public override bool SetCoordiPos(double X, double Y, double Theta)
{
bool IsOk = true;
IsOk = IsOk && SetAixsPos(AxisEnum.Coordi3_X1, X);
System.Threading.Thread.Sleep(10);
IsOk = IsOk && SetAixsPos(AxisEnum.Coordi3_Y1, Y);
System.Threading.Thread.Sleep(10);
IsOk = IsOk && SetAixsPos(AxisEnum.Coordi3_Theta1, Theta);
System.Threading.Thread.Sleep(10);
if (MoveEvent == null)
{
MoveEvent = new ManualResetEventSlim();
}
MoveEvent.Reset();
double NowX = 0, NowY = 0, NowTheta = 0;
Task.Factory.StartNew(new Action(() => {
while (IsOk)
{
GetAxisPos(AxisEnum.Coordi3_X, out NowX);
System.Threading.Thread.Sleep(10);
GetAxisPos(AxisEnum.Coordi3_Y, out NowY);
System.Threading.Thread.Sleep(10);
GetAxisPos(AxisEnum.Coordi3_Theta, out NowTheta);
Thread.Sleep(10);
if (Math.Abs(NowX - X) < 0.01 && Math.Abs(NowY - Y) < 0.01 && Math.Abs(NowTheta - Theta) < 0.01)
{
MoveEvent.Set();
}
}
}));
if (MoveEvent.Wait(5000))
{
IsOk = false;
return(true);
}
else
{
IsOk = false;
return(false);
}
}
