public HostarSpeed this[Shceme shc, GeneralAxis axis]
{
get
{
return(this.Scheme[shc][axis].Clone() as HostarSpeed);
}
}
public short RGoAngle(double angle, Nozzle nozzle, Shceme shceme = Shceme.ManualNormal)
{
short rtn = 0;
rtn += this.MachineAxis.R[(int)nozzle].GoPos(angle, SpeedDefine.Instance[Module][shceme, GeneralAxis.U]);
return(rtn);
}
/// <summary>
/// XY到安全位置
/// </summary>
/// <param name="shceme"></param>
public void XYGoSafePt(Shceme shceme = Shceme.ManualNormal)
{
if (this.ZGoSafeTillStop(Shceme.ManualNormal) == 0)
{
this.XYGoPosTillStop(this.MachineConfig.ReadyPoint, shceme);
}
}
public short YGoPos(double y, Shceme shceme = Shceme.ManualNormal)
{
PointF curPos = this.XYPos;
curPos.Y = (float)y;
return(this.XYGoPos(curPos, shceme));
}
/// <summary>
/// XY运动到指定位置，直到到位
/// </summary>
/// <param name="wrold"></param>
/// <param name="shceme"></param>
/// <returns></returns>
public short XYGoPosTillStop(PointF wrold, Shceme shceme = Shceme.ManualNormal)
{
if (this.SafeCheck(shceme))
{
Task <short> task = Task <short> .Factory.StartNew(() => {
Stopwatch watch = new Stopwatch();
watch.Start();
short rtn = this.XYGoPos(wrold, shceme);
while (rtn == 0 && !this.XYReach(wrold))
{
CommonHelper.DoEvent(50);
if (watch.ElapsedMilliseconds > ConstDefine.iActionTimeout)
{
rtn = -1;
}
}
return(rtn);
});
task.Wait();
return(task.Result);
}
return(-1);
}
/// <summary>
/// XY到指定区域
/// </summary>
/// <param name="wrold"></param>
/// <param name="shceme"></param>
/// <returns></returns>
public short XYGoPos(PointF wrold, Shceme shceme = Shceme.ManualNormal)
{
PointF curPos = this.XYPos;
if (SafeCheck(shceme) && LimitCheck(wrold))
{
short rtn = 0;
if (curPos.X != wrold.X)
{
var sdX = SpeedDefine.Instance[Module][curPos.X, wrold.X, shceme, GeneralAxis.X];
rtn += this.MachineAxis.X.GoPos(wrold.X, sdX);
}
float Y = wrold.Y;
if (curPos.Y != wrold.Y && SystemEntiy.Instance.CanMoveY(this.Module, ref Y))
{
wrold.Y = Y;
var sdY = SpeedDefine.Instance[Module][curPos.Y, wrold.Y, shceme, GeneralAxis.Y];
rtn += this.MachineAxis.Y.GoPos(wrold.Y, sdY);
}
return(rtn);
}
return(-1);
}
/// <summary>
/// 安全检查
/// </summary>
/// <param name="shceme"></param>
/// <returns></returns>
public bool SafeCheck(Shceme shceme = Shceme.ManualNormal)
{
// 如果不在安全高度
if (!this.ZReachSafe)
{
this.ZGoSafe(shceme);
return(false);
}
// 判断离谁最近,到最近的位置
double trunPos = this.MachineAxis.Trun.Pos;
double d1 = Math.Abs(trunPos - this.MachineConfig.TrunPasteAngle);
double d2 = Math.Abs(trunPos - this.MachineConfig.TrunSuckAngle);
if (d1 < d2)
{
if (d1 > 1)
{
this.TurnGoPaste(shceme);
return(false);
}
}
else
{
if (d2 > 1)
{
this.TurnGoSuck(shceme);
return(false);
}
}
return(true);
}
public HostarSpeed this[double curPos, double endPos, Shceme shc, GeneralAxis axis]
{
get
{
return(this.GetSpeed(curPos, endPos, this.Scheme[shc][axis]));
}
}
public short RGoAngleTillStop(double angle, Nozzle nozzle, Shceme shceme = Shceme.ManualNormal)
{
short rtn = 0;
double curPos = this.MachineAxis.R[(int)nozzle].Pos;
rtn += this.MachineAxis.R[(int)nozzle].GoPosTillStop(ConstDefine.iActionTimeout, angle, SpeedDefine.Instance[Module][curPos, angle, shceme, GeneralAxis.U]);
return(rtn);
}
public short ZGoPosTillStop(Nozzle nozzle, double pos, Shceme shceme = Shceme.ManualNormal)
{
short rtn = 0;
double curPos = this.MachineAxis.Z[(int)nozzle].Pos;
rtn += this.MachineAxis.Z[(int)nozzle].GoPosTillStop(ConstDefine.iActionTimeout, pos, SpeedDefine.Instance[Module][curPos, pos, shceme, GeneralAxis.Z]);
return(rtn);
}
/// <summary>
/// Y Jog运动
/// </summary>
/// <param name="nozzle"></param>
/// <param name="pos"></param>
/// <param name="shceme"></param>
/// <returns></returns>
public short YJog(bool dir, Shceme shceme = Shceme.ManualNormal)
{
if (SafeCheck(shceme))
{
return(this.MachineAxis.Y.Jog(SpeedDefine.Instance[Module][shceme, GeneralAxis.Y], dir));
}
else
{
return(-1);
}
}
private void bTurn_Mode_ContextMenuStripChanged(object sender, EventArgs e)
{
if (MoveFunc == MoveFunc.Jog)
{
TurnSpeedMode = GetShceme(this.bTurn_Mode.Text);
}
else
{
TurnMoveDist = double.Parse(this.bTurn_Mode.Text);
}
}
public short TurnJog(bool dir, Shceme shceme = Shceme.ManualNormal)
{
if (this.ZReachSafe)
{
return(this.MachineAxis.Trun.Jog(SpeedDefine.Instance[Module][shceme, GeneralAxis.TRUN], dir));
}
else
{
this.ZGoSafe();
return(-1);
}
}
public short TurnGoPos(double pos, Shceme shceme = Shceme.ManualNormal)
{
if (this.ZReachSafe)
{
return(this.MachineAxis.Trun.GoPos(pos, SpeedDefine.Instance[Module][shceme, GeneralAxis.TRUN]));
}
else
{
this.ZGoSafe();
return(-1);
}
}
/// <summary>
/// R轴到初始化角度(慎用)
/// </summary>
/// <param name="nozzle"></param>
/// <param name="shceme"></param>
/// <returns></returns>
public short RGoInit(Nozzle nozzle, Shceme shceme = Shceme.ManualNormal)
{
short rtn = 0;
Axis_RunParam r = MachineAxis.R[(int)nozzle];
rtn += r.GoPosTillStop(ConstDefine.iActionTimeout, this.MachineConfig.NozzleMap[nozzle].RInit, SpeedDefine.Instance[Module][shceme, GeneralAxis.U]);
r.Stop();
Thread.Sleep(100);
r.ClearAxisSts();
r.ZeroAxis();
return(rtn);
}
public short ZGoSafe(Shceme shceme = Shceme.ManualNormal)
{
short rtn = 0;
foreach (Nozzle nozzle in Enum.GetValues(typeof(Nozzle)))
{
if (nozzle == Nozzle.Nz1 || nozzle == Nozzle.Nz4)
{
rtn += this.ZGoSafe(nozzle, shceme);
}
}
return(rtn);
}
public short XYGoPosUI(PointF xyPos, Shceme sheme = Shceme.ManualNormal)
{
Stopwatch sw = new Stopwatch();
sw.Restart();
short rtn = this.XYGoPos(xyPos);
while (!this.XYReach(xyPos) && sw.ElapsedMilliseconds < 5000)
{
CommonHelper.DoEvent(50);
}
if (sw.ElapsedMilliseconds > 5000)
{
rtn += -1;
}
return(rtn);
}
public short ZGoSafeTillStop(Shceme shceme = Shceme.ManualNormal)
{
List <Task <short> > tasks = new List <Task <short> >();
foreach (Nozzle nozzle in Enum.GetValues(typeof(Nozzle)))
{
tasks.Add(Task <short> .Factory.StartNew(() => {
return(this.ZGoPosTillStop(nozzle, this.MachineConfig[nozzle].SafeHeight, shceme));
}));
}
Task.WaitAll(tasks.ToArray());
short rtn = 0;
for (int i = 0; i < tasks.Count; ++i)
{
rtn += tasks[i].Result;
}
return(rtn);
}
public short RJog(Nozzle nozzle, bool dir, Shceme shceme = Shceme.ManualNormal)
{
return(this.MachineAxis.R[(int)nozzle].Jog(SpeedDefine.Instance[Module][shceme, GeneralAxis.U], dir));
}
private void cbSpeedMode_SelectedIndexChanged(object sender, EventArgs e)
{
this.ManualSpeed = (Shceme)this.cbSpeedMode.SelectedIndex;
}
public short TurnGoSuck(Shceme shceme = Shceme.ManualNormal)
{
return(this.TurnGoPos(this.MachineConfig.TrunSuckAngle, shceme));
}
public short ZGoThrow(Nozzle nozzle, Shceme shceme = Shceme.ManualNormal, double pos = 0)
{
return(this.ZGoPos(nozzle, (MachineConfig.NozzleMap[nozzle].DropHeight + pos), shceme));
}
public short ZGoSafe(Nozzle nozzle, Shceme shceme = Shceme.ManualNormal)
{
return(this.ZGoPos(nozzle, MachineConfig.NozzleMap[nozzle].SafeHeight, shceme));
}
private void cb_Select_SelectedIndexChanged(object sender, EventArgs e)
{
this.selectShceme = (Shceme)this.cb_Select.SelectedIndex;
UpdateToUI();
}
