private void GoToZeros_Click(object sender, RoutedEventArgs e)
{
var state = Cnc.PlannedState;
var stepsU = _positionOffsetU - state.U;
var stepsV = _positionOffsetV - state.V;
var stepsX = _positionOffsetX - state.X;
var stepsY = _positionOffsetY - state.Y;
var planner = new PlanBuilder();
planner.AddRampedLineUVXY(stepsU, stepsV, stepsX, stepsY, Constants.MaxPlaneAcceleration, Constants.MaxPlaneSpeed);
Cnc.SEND(planner.Build());
}
private void executePlan()
{
if (!Cnc.IsHomeCalibrated)
{
ShowError("Calibration is required!");
return;
}
disableMotionCommands();
Workspace.DisableChanges();
var builder = new PlanBuilder();
var point = Workspace.EntryPoint;
var state = Cnc.PlannedState;
var initU = point.PositionC1 - state.U;
var initV = point.PositionC2 - state.V;
var initX = point.PositionC1 - state.X;
var initY = point.PositionC2 - state.Y;
builder.AddRampedLineUVXY(initU, initV, initX, initY, Configuration.MaxPlaneAcceleration, getTransitionSpeed());
try
{
Workspace.BuildPlan(builder);
}
catch (PlanningException ex)
{
planCompleted();
ShowError(ex.Message);
return;
}
//builder.AddRampedLineUVXY(-initU, -initV, -initX, -initY, Constants.MaxPlaneAcceleration, getTransitionSpeed());
var plan = builder.Build();
if (!Cnc.SEND(plan))
{
planCompleted();
ShowError("Plan overflows the workspace!");
return;
}
Cnc.OnInstructionQueueIsComplete += planCompleted;
_planStart = DateTime.Now;
_isPlanRunning = true;
if (!plan.Any())
{
planCompleted();
}
}
private void setElevation(CenterCutState newState)
{
if (_state == newState)
{
//there is nothing to do
return;
}
var elevationFactor = _state - newState;
_state = newState;
refreshStateButtons();
var elevation = double.Parse(Elevation.Text);
var elevationSteps = (int)Math.Round(elevation / Configuration.MilimetersPerStep) * elevationFactor;
var builder = new PlanBuilder();
builder.AddRampedLineUVXY(elevationSteps, 0, -elevationSteps, 0, Configuration.MaxPlaneAcceleration, Configuration.MaxPlaneSpeed);
var plan = builder.Build();
_panel.Cnc.SEND(plan);
}