public override void Start()
{
base.Start();
ADCSamplingPointMissException pointsMissedEx = null;
double deltaPos = double.MaxValue;
Log.Clear();
//while(true)
//{
double distMovedLinear = 0, distMovedRotating = 0;
double halfRangeLinear = Args.LinearRange / 2;
// get the unit of axes
var unitLinearAxis = Args.AxisLinear.PhysicalAxisInst.UnitHelper;
var unitRotatingAxis = Args.AxisRotating.PhysicalAxisInst.UnitHelper;
AddLog($"Start to align ...");
#region Linear Alignment
// clear the previous scan curve
Args.ClearScanCurve();
// clear the variables to restart now process of linear align
distMovedLinear = 0;
/// <summary>
/// move to alignment start position.
/// the move methods of the physical axis MUST BE called because the move methods of logical
/// axis will trigger the changing of system status in SystemService.
/// <see cref="SystemService.MoveLogicalAxis(LogicalAxis, MoveByDistanceArgs)"/>
/// </summary>
if (Args.AxisLinear.PhysicalAxisInst.Move(MoveMode.REL, Args.MoveSpeed, -halfRangeLinear) == false)
{
throw new InvalidOperationException($"unable to move the linear axis, {Args.AxisLinear.PhysicalAxisInst.LastError}");
}
var axis = Args.AxisLinear.PhysicalAxisInst as IrixiM12Axis;
var m12 = axis.Parent as IrixiM12;
var range = Args.LinearRange;
var interval = Args.LinearInterval;
List <Point2D> points = null;
List <Point2D> points2 = null;
try
{
m12.StartFast1D(axis, range, interval, Args.MoveSpeed, ADCChannels.CH3, out points, ADCChannels.CH4, out points2);
}
catch (ADCSamplingPointMissException ex)
{
pointsMissedEx = ex;
}
// convert position from step to distance.
for (int i = 0; i < points.Count; i++)
{
points[i].X = axis.UnitHelper.ConvertStepsToDistance((int)points[i].X);
points2[i].X = axis.UnitHelper.ConvertStepsToDistance((int)points2[i].X);
}
Args.ScanCurve.AddRange(points);
Args.ScanCurve2.AddRange(points2);
// find the position of max power and draw the constant lines
/// <seealso cref="ScanCurve.MaxPowerConstantLine"/>
var maxPos = Args.ScanCurve.FindPositionWithMaxIntensity();
var maxPos2 = Args.ScanCurve2.FindPositionWithMaxIntensity();
// calculate the position differential
deltaPos = maxPos.X - maxPos2.X;
// move to the middle position of the max power
var returnToPos = maxPos.X - deltaPos / 2;
// output messages
AddLog($"Position with Max Intensity: ({maxPos.X.ToString("F2")}{unitLinearAxis}, {maxPos.Y.ToString("F3")}), ({maxPos2.X.ToString("F2")}{unitLinearAxis}, {maxPos2.Y.ToString("F3")}");
AddLog($"ΔPosition: {deltaPos.ToString("F2")}{unitLinearAxis}");
AddLog($"Middle of ΔPosition: {returnToPos.ToString("F2")}{unitLinearAxis}");
// move to the middle position
if (Args.AxisLinear.PhysicalAxisInst.Move(MoveMode.REL, Args.MoveSpeed, -(distMovedLinear - returnToPos)) == false)
{
throw new InvalidOperationException(Args.AxisLinear.PhysicalAxisInst.LastError);
}
#endregion
// if the first cycle, rotate to the position calculate according to the delta position and the length of the two DUTs
double angle = -1 * Math.Asin(deltaPos / Args.Pitch) * (180 / Math.PI);
AddLog($"The predicted rolling angle is: {angle.ToString("F2")}{unitRotatingAxis}");
// record the angle rotated
distMovedRotating += angle;
if (Args.AxisRotating.PhysicalAxisInst.Move(MoveMode.REL, Args.MoveSpeed, angle) == false)
{
throw new InvalidOperationException(Args.AxisRotating.PhysicalAxisInst.LastError);
}
AddLog($"{this} has done!");
}
public override void Start()
{
base.Start();
int state = 0;
ADCSamplingPointMissException pointsMissedEx = null;
LogicalAxis activeAxis = Args.Axis;
var range = Args.HorizonalRange;
var interval = Args.HorizonalInterval;
double moved = 0;
AddLog($"Start to align ...");
_align:
// reset arguments
Args.ScanCurveGroup.ClearCurvesContent();
moved = 0;
// move to the start point
if (activeAxis.PhysicalAxisInst.Move(MoveMode.REL, Args.MoveSpeed, -(range / 2)) == false)
{
throw new InvalidOperationException(activeAxis.PhysicalAxisInst.LastError);
}
var axis = activeAxis.PhysicalAxisInst as IrixiM12Axis;
var m12 = axis.Parent as IrixiM12;
List <Point2D> points = null;
List <Point2D> points2 = null;
try
{
m12.StartFast1D(axis, range, interval, Args.MoveSpeed, ADCChannels.CH3, out points, ADCChannels.CH4, out points2);
}
catch (ADCSamplingPointMissException ex)
{
pointsMissedEx = ex;
}
// convert position from step to distance.
for (int i = 0; i < points.Count; i++)
{
points[i].X = axis.UnitHelper.ConvertStepsToDistance((int)points[i].X);
points2[i].X = axis.UnitHelper.ConvertStepsToDistance((int)points2[i].X);
}
Args.ScanCurve.AddRange(points);
Args.ScanCurve2.AddRange(points2);
var maxPos = Args.ScanCurve.FindPositionWithMaxIntensity();
var maxPos2 = Args.ScanCurve2.FindPositionWithMaxIntensity();
var diffPos = maxPos.X - maxPos2.X;
// return to the position with maximum indensity
var returnToPos = maxPos.X - diffPos / 2;
// output messages
var unitHelper = activeAxis.PhysicalAxisInst.UnitHelper;
AddLog($"Max Intensity Position: ({maxPos.X.ToString("F1")}{unitHelper}, {maxPos.Y.ToString("F3")}), ({maxPos2.X.ToString("F1")}{unitHelper}, {maxPos2.Y.ToString("F3")})");
AddLog($"ΔPosition: {diffPos.ToString("F1")}{activeAxis}");
AddLog($"Middle of ΔPosition: {returnToPos.ToString("F1")}{unitHelper}");
if (activeAxis.PhysicalAxisInst.Move(MoveMode.REL, Args.MoveSpeed, -(moved - returnToPos)) == false)
{
throw new InvalidOperationException(activeAxis.PhysicalAxisInst.LastError);
}
// switch to the next axis to scan
if (state < 1)
{
state++;
activeAxis = Args.Axis2;
range = Args.VerticalRange;
Task.Delay(500);
goto _align;
}
AddLog($"Done! {(DateTime.Now - alignStarts).TotalSeconds.ToString("F1")}s costs.");
}
public override void Start()
{
base.Start();
ADCSamplingPointMissException pointMissEx = null;
double maxIndensity = 0;
//int moved_points = 0;
//var curr_pos = new Point(0, 0);
//var curr_point3d = new Point3D();
AddLog("Start to align ...");
Args.ClearScanCurve();
var haxis = Args.Axis.PhysicalAxisInst as IrixiM12Axis;
var vaxis = Args.Axis2.PhysicalAxisInst as IrixiM12Axis;
var m12 = haxis.Parent as IrixiM12;
List <Point3D> points = null;
try
{
m12.StartBlindSearch(haxis, vaxis, Args.Range, Args.Interval, Args.Interval, Args.MoveSpeed, M12.Definitions.ADCChannels.CH3, out points);
}
catch (ADCSamplingPointMissException ex)
{
// ran too fast, some ADC sampling points missed.
pointMissEx = ex;
AddLog("Some of the sampling points are lost, reduce the speed and try again.");
AddLog($"{ex.Desired} points desired but only {ex.Reality} points got.");
}
// convert position from step to distance.
for (int i = 0; i < points.Count; i++)
{
points[i].X = haxis.UnitHelper.ConvertStepsToDistance((int)points[i].X);
points[i].Y = vaxis.UnitHelper.ConvertStepsToDistance((int)points[i].Y);
}
// draw curve.
Args.ScanCurve.AddRange(points);
// move the position with maximum intensity.
var maxPoint = Args.ScanCurve.FindMaximalPosition3D();
var lastPoint = Args.ScanCurve.Last();
var last_x = lastPoint.X;
var last_y = lastPoint.Y;
var max_x = maxPoint.X;
var max_y = maxPoint.Y;
maxIndensity = maxPoint.Z;
// Axis0 acts logical X
Args.Axis.PhysicalAxisInst.Move(MoveMode.REL, Args.MoveSpeed, -(last_x - max_x));
// Axis1 acts logical Y
Args.Axis2.PhysicalAxisInst.Move(MoveMode.REL, Args.MoveSpeed, -(last_y - max_y));
AddLog($"Done! {(DateTime.Now - alignStarts).TotalSeconds.ToString("F1")}s costs.");
if (pointMissEx != null)
{
throw pointMissEx;
}
}
public override void Start()
{
int cycles = 0;
double max_measval = 0;
ADCSamplingPointMissException pointsMissedEx = null;
base.Start();
Args.ClearScanCurve();
// select enabled axes
var arg_enabled = Args.AxisParamCollection.Where(a => a.IsEnabled == true);
// sort by AlignOrder
var args = arg_enabled.OrderBy(a => a.Order);
// align by each axis.
foreach (var arg in args)
{
AddLog($"Start to align {arg.Axis} ...");
//double dist_moved = 0;
double halfrange = arg.Range / 2;
/// <summary>
/// move to alignment start position.
/// the move methods of the physical axis MUST BE called because the move methods of logical
/// axis will trigger the changing of system status in SystemService.
/// <see cref="SystemService.MoveLogicalAxis(MotionControllers.Base.LogicalAxis, MoveByDistanceArgs)"/>
/// </summary>
if (arg.Axis.PhysicalAxisInst.Move(MoveMode.REL, arg.MoveSpeed, -halfrange) == false)
{
throw new InvalidOperationException(arg.Axis.PhysicalAxisInst.LastError);
}
var axis = arg.Axis.PhysicalAxisInst as IrixiM12Axis;
var m12 = axis.Parent as IrixiM12;
List <Point2D> points = null;
try
{
m12.StartFast1D(axis, arg.Range, arg.Interval, arg.MoveSpeed, M12.Definitions.ADCChannels.CH3, out points);
}
catch (ADCSamplingPointMissException ex)
{
pointsMissedEx = ex;
AddLog("Some of the sampling points are lost, reduce the speed and try again.");
AddLog($"{ex.Desired} points desired but only {ex.Reality} points got.");
}
// convert position from step to distance.
for (int i = 0; i < points.Count; i++)
{
points[i].X = axis.UnitHelper.ConvertStepsToDistance((int)points[i].X);
}
arg.ScanCurve.AddRange(points);
// cancel the alignment process
if (cts_token.IsCancellationRequested)
{
break;
}
// return to the position with the maximnm measurement data
var max_pos = arg.ScanCurve.FindPositionWithMaxIntensity();
max_measval = max_pos.Y;
// move to the position of max power
// Note: The distance to move is minus
if (arg.Axis.PhysicalAxisInst.Move(MoveMode.REL, arg.Axis.MoveArgs.Speed, -(arg.Range - max_pos.X)) == false)
{
throw new InvalidOperationException(arg.Axis.PhysicalAxisInst.LastError);
}
AddLog($"Done! {(DateTime.Now - alignStarts).TotalSeconds.ToString("F1")}s costs.");
}
}