private void Tet_Click(object sender, RoutedEventArgs e)
{
var stepI = new ConstantInstruction((short)4, 25000, 0);
var waitI = new ConstantInstruction((short)0, 1000000, 0);
var instruction = Axes.UVXY(waitI, stepI, waitI, waitI);
Cnc.SEND(instruction);
}
private void sendNextPlan()
{
var accelerationX = CreateAcceleration(_deltaTX, _desiredSpeed * _desiredDirectionX);
var accelerationY = CreateAcceleration(_deltaTY, _desiredSpeed * _desiredDirectionY);
if (accelerationX.Concat(accelerationY).Count() > 2 && accelerationX.Length != accelerationY.Length)
{
throw new NotImplementedException("We have to handle reverting one axis and starting the other");
}
if (accelerationX.Any() && accelerationY.Any())
{
for (var i = 0; i < accelerationX.Length; ++i)
{
sendInstruction(accelerationX[i], accelerationY[i]);
}
velocityReached();
return;
}
//here we have single acceleration per axes
if (accelerationX.Any() || accelerationY.Any())
{
foreach (var acceleration in accelerationX)
{
sendInstruction(acceleration, null);
}
foreach (var acceleration in accelerationY)
{
sendInstruction(null, acceleration);
}
velocityReached();
return;
}
velocityReached();
if (_deltaTX == 0 && _deltaTY == 0)
{
_stop = true;
return;
}
var instructionTime = 100 * 350;
var timedStepCountX = _deltaTX == 0 ? 0 : instructionTime / Math.Abs(_deltaTX);
var timedStepCountY = _deltaTY == 0 ? 0 : instructionTime / Math.Abs(_deltaTY);
var stepCountX = (Int16)(timedStepCountX * Math.Sign(_deltaTX));
var stepCountY = (Int16)(timedStepCountY * Math.Sign(_deltaTY));
var xInstruction = new ConstantInstruction(stepCountX, (UInt16)Math.Abs(_deltaTX), 0);
var yInstruction = new ConstantInstruction(stepCountY, (UInt16)Math.Abs(_deltaTY), 0);
sendInstruction(xInstruction, yInstruction);
}
private void sendNewPlan()
{
if (_currentDeltaT != _desiredDeltaT)
{
_currentDeltaT = _desiredDeltaT;
}
var stepCount = (Int16)(Math.Max(2, 20000 / _currentDeltaT));
var sendStepCount = Direction ? (Int16)(-stepCount) : stepCount;
var remainder = (UInt16)(_desiredDeltaRemainder * stepCount);
var instruction = new ConstantInstruction(sendStepCount, _currentDeltaT, remainder);
_cnc.SEND(Axes.UVXY(instruction, instruction, instruction, instruction));
var plannedTime = stepCount * _currentDeltaT;
_plannedTimeTotal += plannedTime;
_plannedTimes.Enqueue(plannedTime);
}
private void addConstantPlan(int tickCount, double distance, List <StepInstrution> pathPlans)
{
checked
{
//fraction is clipped because period can be used for remainder
var stepCount = (Int16)distance;
if (stepCount == 0)
{
pathPlans.Add(new ConstantInstruction(0, 0, 0));
return;
}
checked
{
var baseDeltaExact = Math.Abs(tickCount / stepCount);
var baseDelta = Math.Abs((int)(baseDeltaExact));
var tickRemainder = (UInt16)(tickCount - Math.Abs(stepCount) * baseDelta);
var constantPlan = new ConstantInstruction(stepCount, baseDelta, tickRemainder);
pathPlans.Add(constantPlan);
}
}
}
private StepInstrution createInstruction(double offsetTime, double stepDuration, int stepCount)
{
//Debug.WriteLine($"Cp({offsetTime:0.00},{stepDuration:0.00},{stepCount})");
_lastStepCount = stepCount;
if (stepCount == 0)
{
_lastInstructionDuration = 0;
return(new ConstantInstruction(0, 0, 0));
}
checked
{
var offset = (int)Math.Round(offsetTime);
var baseDeltaT = (int)Math.Truncate(stepDuration);
var remainder = (int)Math.Truncate(stepDuration * stepCount - baseDeltaT * stepCount);
var instruction = new ConstantInstruction((short)(Math.Sign(_ratio) * stepCount), baseDeltaT, (ushort)remainder, offset);
_lastInstructionDuration = instruction.GetInstructionDuration();
return(instruction);
}
}
private StepInstrution getConstantInstruction(double speed)
{
checked
{
var trajectory = speed * _instructionDurationLimit;
var trajectorySteps = (Int16)Math.Round(trajectory / Configuration.MilimetersPerStep);
var tickCount = _instructionDurationLimit * Configuration.TimerFrequency;
StepInstrution instruction;
if (trajectorySteps == 0)
{
instruction = new ConstantInstruction(0, (int)Math.Round(tickCount), 0);
}
else
{
var baseDeltaExact = Math.Abs(tickCount / trajectorySteps);
var baseDelta = Math.Abs((int)(baseDeltaExact));
var tickRemainder = (UInt16)(tickCount - Math.Abs(trajectorySteps) * baseDelta);
instruction = new ConstantInstruction(trajectorySteps, baseDelta, tickRemainder);
}
return(instruction);
}
}
public virtual void VisitConstant(ConstantInstruction x)
{
VisitInstruction(x);
}
public override void VisitConstant(ConstantInstruction x)
{
emit(Expression.Constant(x.Constant));
}
