private void button6_Click(object sender, EventArgs e)
{
double v_ = 200; // mm/s
double a_ = 2000; // mm/s^2
double trigInterval = 3.0;
double xc = 125, yc = 160; //扫描圆心
double r = 100; //扫描区域半径
Axis AX = Motion.Axis(X);
Axis AY = Motion.Axis(Y);
Point2i axes = new Point2i(X, Y);
double offset = -0.2; //两通道触发间隔
Point2d pos2d_start = new Point2d();
Point2d pos2d_end = new Point2d();
int err_ = 0;
int direction_ = 0;
bool use_tirgger_data = false;
for (int i = 0; i < 2 * r / trigInterval - 1; i++)
{
//step0: 计算点位
direction_ = (i % 2 == 0) ? 1 : -1;
pos2d_start.y = yc - r + trigInterval * (i + 1);
pos2d_start.x = xc - direction_ * Math.Sqrt(r * r - (pos2d_start.y - yc) * (pos2d_start.y - yc));
pos2d_end.x = 2 * xc - pos2d_start.x;
pos2d_end.y = pos2d_start.y - 0.3 * direction_; //Y适当错位，模拟斜着运动扫描（这里模拟走一个圆）
Console.WriteLine("{0}: ({1}, {2}) -> ({3}, {4})", i, pos2d_start.x, pos2d_start.y, pos2d_end.x, pos2d_end.y);
//step1: 运动到起点
//XY移动到起点 AbsMoveOver = AbsMove + MotionDone
//这里也可以用 Motion.Axis(X).AbsMove();
if ((err_ = Motion.AbsMoveOver(axes, pos2d_start)) != 0)
{
MessageBox.Show("Error: " + err_);
return;
}
//step2: 设置触发位置
double triggerPos_ = pos2d_start.x + 0.5 * direction_; //第一个位置和当前位置相距一毫米
//位置列表，绝对位置，单位mm
if (use_tirgger_data)
{
var trigPos0_ = new List <double>();
while ((pos2d_end.x - triggerPos_) * direction_ > 0)
{
trigPos0_.Add(triggerPos_); //通道0触发光源
triggerPos_ += direction_ * trigInterval;
}
if ((err_ = AX.TriggerData(trigPos0_, direction_ * offset)) != 0)
{
MessageBox.Show("Error: " + err_);
return;
}
}
else //等间隔触发，绝对位置，单位mm
{
int triggerCnt_ = (int)((Math.Abs(pos2d_end.x - pos2d_start.x) - 1.0) / trigInterval); //保证最后一个点至少与起点相距0.5mm
if ((err_ = AX.TriggerLinear(triggerPos_, direction_ * trigInterval, triggerCnt_, direction_ * offset)) != 0) //触发相机和光源
{
MessageBox.Show("Error: " + err_);
return;
}
}
//step3: 插补运动
//LineOver = Line+LineDone
if ((err_ = Motion.LineOver(axes, pos2d_end, v_, a_)) != 0)
{
MessageBox.Show("Error: " + err_);
return;
}
//step4: 停止触发并process images
if ((err_ = AX.TriggerStop()) != 0)
{
MessageBox.Show("Error: " + err_);
return;
}
}
}
