private void SendDataEncode()
{
// 帧头
sendBuff[0] = 0xAA;
sendBuff[1] = 0x55;
if (gtryCmd == GTYRY_CMD.CLAMP_RELAX)
{
Console.WriteLine("aa");
}
gtryCmdDoing = gtryCmd;// 正在执行的龙门指令
sendBuff[2] = (byte)((int)gtryCmdDoing & 0xff);
sendBuff[3] = (byte)(((int)gtryCmdDoing >> 8) & 0xff);
// 伺服运动命令
if ((gtryCmdDoing <= GTYRY_CMD.Z_ZRN) && (gtryCmdDoing >= GTYRY_CMD.X_RELATIVE))
{
int tmpGtryPos = gtryPos * pulse_per_mm;
int tmpGtrySpeed = gtrySpeed * pulse_per_mm;
sendBuff[4] = (byte)(tmpGtryPos & 0xff);
sendBuff[5] = (byte)((tmpGtryPos >> 8) & 0xff);
sendBuff[6] = (byte)((tmpGtryPos >> 16) & 0xff);
sendBuff[7] = (byte)((tmpGtryPos >> 24) & 0xff);
sendBuff[8] = (byte)(tmpGtrySpeed & 0xff);
sendBuff[9] = (byte)((tmpGtrySpeed >> 8) & 0xff);
sendBuff[10] = (byte)((tmpGtrySpeed >> 16) & 0xff);
sendBuff[11] = (byte)((tmpGtrySpeed >> 24) & 0xff);
}
else if ((gtryCmdDoing >= GTYRY_CMD.XPOS_SET_ZREO) && (gtryCmdDoing <= GTYRY_CMD.ZPOS_SET_ZERO))
{
int tmpGtryPos = gtryPos;
int tmpGtrySpeed = gtrySpeed;
sendBuff[4] = (byte)(tmpGtryPos & 0xff);
sendBuff[5] = (byte)((tmpGtryPos >> 8) & 0xff);
sendBuff[6] = (byte)((tmpGtryPos >> 16) & 0xff);
sendBuff[7] = (byte)((tmpGtryPos >> 24) & 0xff);
sendBuff[8] = (byte)(tmpGtrySpeed & 0xff);
sendBuff[9] = (byte)((tmpGtrySpeed >> 8) & 0xff);
sendBuff[10] = (byte)((tmpGtrySpeed >> 16) & 0xff);
sendBuff[11] = (byte)((tmpGtrySpeed >> 24) & 0xff);
}
else
{
sendBuff[0] = sendBuff[0];
}
// 帧尾巴
sendBuff[18] = 0xA5;
sendBuff[19] = 0x5A;
}
// 发送命令的重置
private void SendCmdReset()
{
if (gtryCmdDoing == GTYRY_CMD.STOP)
{
return;
}
if (gtryCmdDoing == GTYRY_CMD.PAUSE)
{
return;
}
if (gtryCmdDoing != GTYRY_CMD.NONE)
{
gtryCmdDoing = GTYRY_CMD.NONE;
gtryCmd = GTYRY_CMD.NONE;
}
}
