public void MoveHome() { //escape z PLmt CommandEscapeLmt commandEscapeLmt = new CommandEscapeLmt(this.Z, this.EscapeLmtPrmZ); this.Fire(commandEscapeLmt); //move home z CommandMoveHome command = new CommandMoveHome(this.Z, this.MoveHomePrmZ); this.Fire(command); //move home xy command = new CommandMoveHome(this.XY, new MoveHomePrm[] { this.MoveHomePrmX, this.MoveHomePrmY }); this.Fire(command); }
public static void MoveHomeAndReply(this AxisType axisType) { Axis axis = AxisMgr.Instance.FindBy((int)axisType); if (axis == null) { return; } MoveHomePrm moveHomePrm = null; switch (axisType) { case AxisType.Axis5: moveHomePrm = Machine.Instance.Robot.HomePrm.HomePrm5; break; case AxisType.Axis6: moveHomePrm = Machine.Instance.Robot.HomePrm.HomePrm6; break; case AxisType.Axis7: moveHomePrm = Machine.Instance.Robot.HomePrm.HomePrm7; break; case AxisType.Axis8: moveHomePrm = Machine.Instance.Robot.HomePrm.HomePrm8; break; } if (moveHomePrm == null) { return; } CommandMoveHome command = new CommandMoveHome(axis, moveHomePrm); executeCommand(command); }
private void btnReset_Click(object sender, EventArgs e) { CommandMoveHome command = CommandFactory.CreateCommand <CommandMoveHome>("Move Home"); CommandFactory.CommandQueue.Push(command); }