public override ActionBase InitAll()
{
var by = IMask.Gen(0);
foreach (var ent in Injector.Entercloses)
{
by[ent.Index] = (int)ent.YZero;
}
var inject_list = Injector.Entercloses.Where(item => item.InjEnable).ToList();
var act = Sequence.create(InitXyz.create(this, 30000, inject_list.ToArray(), false, false, true));
act.AddAction(InitXyz.create(this, 30000, inject_list.ToArray(), true, true, false, by));
var device = new ActionDevice(this);
int x = 0;
int[] y = new int[4];
int [] z = new int [4];
device.GetRealX(ref x);
device.GetRealY(inject_list.ToArray(), ref y);
device.GetRealZ(inject_list.ToArray(), ref z);
Injector.XMotor.CurrentDistance = x;
for (int i = 0; i < inject_list.Count(); i++)
{
inject_list[i].YMotor.CurrentDistance = y[i] + (int)inject_list[i].TipDis;
inject_list[i].ZMotor.CurrentDistance = z[i];
}
return(act);
}
public override ActionBase InitAll()
{
InitHandTongs();
var act = Sequence.create(InitXyz.create(this, 30000, false, false, true));
act.AddAction(InitXyz.create(this, 30000, true, true, false));
var device = new ActionDevice(this);
int x = 0;
int y = 0;
int z = 0;
device.GetRealX(ref x);
device.GetRealY(ref y);
device.GetRealZ(ref z);
Hand.XMotor.CurrentDistance = x;
Hand.YMotor.CurrentDistance = y;
Hand.ZMotor.CurrentDistance = z;
return(act);
}
//得到恢复当前状态的动作
public bool GetReSetAct(ref Sequence seque_act)
{
int x = 0;
int [] y = IMask.Gen(-1);
int[] z = IMask.Gen(-1);
var device = new ActionDevice(this);
var inject_list = Injector.Entercloses.Where(item => item.InjEnable).ToList();
bool ret = device.GetRealX(ref x);
ret = ret && device.GetRealY(inject_list.ToArray(), ref y);
ret = ret && device.GetRealZ(inject_list.ToArray(), ref z);
for (int i = 0; i < inject_list.Count; i++)
{
y[inject_list[i].Index] += (int)inject_list[i].TipDis;
}
seque_act.AddAction(InjectMoveTo.create(3000, inject_list.ToArray(), -1, IMask.Gen(-1), IMask.Gen(0)));
seque_act.AddAction(InjectMoveTo.create(3000, inject_list.ToArray(), x, y, IMask.Gen(-1)));
seque_act.AddAction(InjectMoveTo.create(3000, inject_list.ToArray(), -1, IMask.Gen(-1), z));
return(ret);
}
