public void Glue(GlueTargets glueTargets, GlueParameter gluePara)
{
lock (_motionLocker)
{
ClearInterpolationBuffer();
PointInfo gluePoint;
PointInfo risePoint;
for (int i = 0; i < 4; i++)
{
gluePoint = new PointInfo()
{
X = glueTargets.PointTargets[i].X,
Y = glueTargets.PointTargets[i].Y,
Z = glueTargets.PointTargets[i].Z + gluePara.GlueRadius,
};
AddPoint(gluePoint);
AddDigitalOutput(OutputState.On);
if (i == 0)
{
AddDelay(gluePara.PreShotTime);
}
else
{
AddDelay(gluePara.PreShotTime - gluePara.SecondLineLessPreShot);
}
AddDelay(gluePara.GluePeriod);
AddDigitalOutput(OutputState.Off);
risePoint = new PointInfo()
{
X = glueTargets.PointTargets[i].X,
Y = glueTargets.PointTargets[i].Y,
Z = glueTargets.PointTargets[i].Z + gluePara.RiseGlueHeight,
};
AddPoint(risePoint, gluePara.RiseGlueSpeed);
AddDelay(gluePara.CloseGlueDelay);
}
var lastRise = new PointInfo()
{
X = glueTargets.PointTargets[3].X,
Y = glueTargets.PointTargets[3].Y,
Z = glueTargets.PointTargets[3].Z + 20,
};
AddPoint(lastRise);
CheckEnoughSpace();
StartInterpolation();
WaitTillInterpolationEnd();
}
}
public double[] GetSurfaceDistance(GlueTargets targets)
{
//First neck surface height, second spring surface height.
double[] result = new double[2];
double[] laserHeight = new double[4];
int index = 0;
MoveToTarget(targets.LaserTargets[index]);
Delay(100);
laserHeight[index] = GetNeedleToWorkSurfaceHeight();
index++;
MoveToTarget(targets.LaserTargets[index]);
Delay(100);
laserHeight[index] = GetNeedleToWorkSurfaceHeight();
index++;
MoveToTarget(targets.LaserTargets[index]);
Delay(100);
laserHeight[index] = GetNeedleToWorkSurfaceHeight();
index++;
MoveToTarget(targets.LaserTargets[index]);
Delay(100);
laserHeight[index] = GetNeedleToWorkSurfaceHeight();
//check data reliablity.
double[] errors = new double[laserHeight.Length - 1];
for (int i = 0; i < laserHeight.Length - 1; i++)
{
errors[i] = laserHeight[i + 1] - laserHeight[i];
}
foreach (var err in errors)
{
if (err > 0.1)
{
throw new LaserException("Laser height not reliable" + Helper.ConvertToJsonString(laserHeight));
}
}
return(laserHeight);
}
public void GlueOld(GlueTargets glueTargets, GlueParameter gluePara)
{
ClearInterpolationBuffer();
#region First point.
//Go to first point and delay.
int index = 0;
var firstPoint = new PointInfo()
{
X = glueTargets.ArcTargets[index].XStart,
Y = glueTargets.ArcTargets[index].YStart,
Z = glueTargets.ArcTargets[index].Z + gluePara.GlueHeightOffset[index],
};
AddPoint(firstPoint);
AddDigitalOutput(OutputState.On);
AddDelay(gluePara.PreShotTime);
AddArc(glueTargets.ArcTargets[index], gluePara.GlueSpeed);
//Todo Pre close to avoid sharp ending.
AddDigitalOutput(OutputState.Off);
var firstRise = new PointInfo()
{
X = glueTargets.ArcTargets[index].XEnd,
Y = glueTargets.ArcTargets[index].YEnd,
Z = glueTargets.ArcTargets[index].Z + gluePara.RiseGlueHeight,
};
AddPoint(firstRise, gluePara.RiseGlueSpeed);
AddDelay(gluePara.CloseGlueDelay);
#endregion
#region Second point.
index++;
var secondPoint = new PointInfo()
{
X = glueTargets.ArcTargets[index].XStart,
Y = glueTargets.ArcTargets[index].YStart,
Z = glueTargets.ArcTargets[index].Z + gluePara.GlueHeightOffset[index],
};
AddPoint(secondPoint);
AddDigitalOutput(OutputState.On);
AddDelay(gluePara.PreShotTime - gluePara.SecondLineLessPreShot);
AddArc(glueTargets.ArcTargets[index], gluePara.GlueSpeed);
//Todo Pre close to avoid sharp ending.
AddDigitalOutput(OutputState.Off);
var secondRise = new PointInfo()
{
X = glueTargets.ArcTargets[index].XEnd,
Y = glueTargets.ArcTargets[index].YEnd,
Z = glueTargets.ArcTargets[index].Z + gluePara.RiseGlueHeight,
};
AddPoint(secondRise, gluePara.RiseGlueSpeed);
AddDelay(gluePara.CloseGlueDelay);
#endregion
#region third point.
index++;
var thirdPoint = new PointInfo()
{
X = glueTargets.ArcTargets[index].XStart,
Y = glueTargets.ArcTargets[index].YStart,
Z = glueTargets.ArcTargets[index].Z + gluePara.GlueHeightOffset[index],
};
AddPoint(thirdPoint);
AddDigitalOutput(OutputState.On);
AddDelay(gluePara.PreShotTime - gluePara.SecondLineLessPreShot);
AddArc(glueTargets.ArcTargets[index], gluePara.GlueSpeed);
//Todo Pre close to avoid sharp ending.
AddDigitalOutput(OutputState.Off);
var thirdRise = new PointInfo()
{
X = glueTargets.ArcTargets[index].XEnd,
Y = glueTargets.ArcTargets[index].YEnd,
Z = glueTargets.ArcTargets[index].Z + gluePara.RiseGlueHeight,
};
AddPoint(thirdRise, gluePara.RiseGlueSpeed);
AddDelay(gluePara.CloseGlueDelay);
#endregion
#region fourth point.
index++;
var fourthPoint = new PointInfo()
{
X = glueTargets.ArcTargets[index].XStart,
Y = glueTargets.ArcTargets[index].YStart,
Z = glueTargets.ArcTargets[index].Z + gluePara.GlueHeightOffset[index],
};
AddPoint(fourthPoint);
AddDigitalOutput(OutputState.On);
AddDelay(gluePara.PreShotTime - gluePara.SecondLineLessPreShot);
AddArc(glueTargets.ArcTargets[index], gluePara.GlueSpeed);
//Todo Pre close to avoid sharp ending.
AddDigitalOutput(OutputState.Off);
var fourthRise = new PointInfo()
{
X = glueTargets.ArcTargets[index].XEnd,
Y = glueTargets.ArcTargets[index].YEnd,
Z = glueTargets.ArcTargets[index].Z + gluePara.RiseGlueHeight,
};
AddPoint(fourthRise, gluePara.RiseGlueSpeed);
AddDelay(gluePara.CloseGlueDelay);
#endregion
var finishRise = new PointInfo()
{
X = glueTargets.ArcTargets[index].XEnd,
Y = glueTargets.ArcTargets[index].YEnd,
Z = glueTargets.ArcTargets[index].Z + gluePara.RiseGlueHeight + 20,
};
AddPoint(finishRise, 10);
CheckEnoughSpace();
StartInterpolation();
WaitTillInterpolationEnd();
}
public void Glue(GlueTargets glueTargets, GlueParameter gluePara)
{
lock (_motionLocker)
{
ClearInterpolationBuffer();
#region First point.
AddPoint(glueTargets.GroupPoints.Group1Points[0]);
AddDigitalOutput(OutputState.On);
AddDelay(gluePara.PreShotTime);
//for (int i = 0; i < glueTargets.GroupPoints.Group1Points.Length; i++)
//{
// AddPoint(glueTargets.GroupPoints.Group1Points[i], gluePara.GlueSpeed, gluePara.GlueSpeed);
//}
AddPoint(glueTargets.GroupPoints.Group1Points[10], gluePara.GlueSpeed, gluePara.GlueSpeed);
AddDigitalOutput(OutputState.Off);
glueTargets.GroupPoints.Group1Points[glueTargets.GroupPoints.Group1Points.Length - 2].Z +=
gluePara.RiseGlueHeight;
AddPoint(glueTargets.GroupPoints.Group1Points[glueTargets.GroupPoints.Group1Points.Length - 2],
gluePara.RiseGlueSpeed, 0);
AddDelay(gluePara.CloseGlueDelay);
#endregion
#region Second point.
AddPoint(glueTargets.GroupPoints.Group2Points[0]);
AddDigitalOutput(OutputState.On);
AddDelay(gluePara.PreShotTime - -gluePara.SecondLineLessPreShot);
//for (int i = 0; i < glueTargets.GroupPoints.Group2Points.Length; i++)
//{
// AddPoint(glueTargets.GroupPoints.Group2Points[i], gluePara.GlueSpeed, gluePara.GlueSpeed);
//}
AddPoint(glueTargets.GroupPoints.Group2Points[10], gluePara.GlueSpeed, gluePara.GlueSpeed);
AddDigitalOutput(OutputState.Off);
glueTargets.GroupPoints.Group2Points[glueTargets.GroupPoints.Group2Points.Length - 2].Z +=
gluePara.RiseGlueHeight;
AddPoint(glueTargets.GroupPoints.Group2Points[glueTargets.GroupPoints.Group2Points.Length - 2],
gluePara.RiseGlueSpeed, 0);
AddDelay(gluePara.CloseGlueDelay);
#endregion
#region Third point.
AddPoint(glueTargets.GroupPoints.Group3Points[0]);
AddDigitalOutput(OutputState.On);
AddDelay(gluePara.PreShotTime - -gluePara.SecondLineLessPreShot);
//for (int i = 0; i < glueTargets.GroupPoints.Group3Points.Length; i++)
//{
// AddPoint(glueTargets.GroupPoints.Group3Points[i], gluePara.GlueSpeed, gluePara.GlueSpeed);
//}
AddPoint(glueTargets.GroupPoints.Group3Points[10], gluePara.GlueSpeed, gluePara.GlueSpeed);
AddDigitalOutput(OutputState.Off);
glueTargets.GroupPoints.Group3Points[glueTargets.GroupPoints.Group3Points.Length - 2].Z +=
gluePara.RiseGlueHeight;
AddPoint(glueTargets.GroupPoints.Group3Points[glueTargets.GroupPoints.Group3Points.Length - 2],
gluePara.RiseGlueSpeed, 0);
AddDelay(gluePara.CloseGlueDelay);
#endregion
#region Fourth point.
AddPoint(glueTargets.GroupPoints.Group4Points[0]);
AddDigitalOutput(OutputState.On);
AddDelay(gluePara.PreShotTime - -gluePara.SecondLineLessPreShot);
//for (int i = 0; i < glueTargets.GroupPoints.Group4Points.Length; i++)
//{
// AddPoint(glueTargets.GroupPoints.Group4Points[i], gluePara.GlueSpeed, gluePara.GlueSpeed);
//}
AddPoint(glueTargets.GroupPoints.Group4Points[10], gluePara.GlueSpeed, gluePara.GlueSpeed);
AddDigitalOutput(OutputState.Off);
glueTargets.GroupPoints.Group4Points[glueTargets.GroupPoints.Group4Points.Length - 2].Z +=
gluePara.RiseGlueHeight;
AddPoint(glueTargets.GroupPoints.Group4Points[glueTargets.GroupPoints.Group4Points.Length - 2],
gluePara.RiseGlueSpeed, 0);
AddDelay(gluePara.CloseGlueDelay);
#endregion
glueTargets.GroupPoints.Group4Points[glueTargets.GroupPoints.Group4Points.Length - 1].Z += 20;
AddPoint(glueTargets.GroupPoints.Group4Points[glueTargets.GroupPoints.Group4Points.Length - 1]);
CheckEnoughSpace();
StartInterpolation();
WaitTillInterpolationEnd();
}
}
