/// <summary>
/// List<Interpolation_Data> 无前瞻和坐标矫正的 FIFO数据追加
/// </summary>
/// <param name="Concat_Datas"></param>
public static void Tran_Data(List <Interpolation_Data> Concat_Datas)
{
//清除FIFO 0
Clear_FIFO();
//初始化FIFO 0前瞻模块
Gts_Return = MC.GT_InitLookAhead(1, 0, Convert.ToDouble(Para_List.Parameter.LookAhead_EvenTime), Convert.ToDouble(Para_List.Parameter.LookAhead_MaxAcc), 4096, ref crdData[0]);
Log.Commandhandler("Line_Interpolation--初始化FIFO 0前瞻模块", Gts_Return);
foreach (var o in Concat_Datas)
{
//未矫正数据
if (o.Type == 1) //直线
{
Line_FIFO(o.End_x, o.End_y); //将直线插补数据写入
}
else if (o.Type == 2) //圆弧
{
Circle_R_FIFO(o.End_x, o.End_y, o.Circle_radius, o.Circle_dir); //将圆弧插补写入
}
else if (o.Type == 3) //圆形
{
Circle_C_FIFO(o.End_x, o.End_y, o.Center_Start_x, o.Center_Start_y, o.Circle_dir); //将圆形插补写入
}
}
//将前瞻数据压入控制器
Gts_Return = MC.GT_CrdData(1, Crd_IntPtr, 0);
Log.Commandhandler("Line_Interpolation--将前瞻数据压入控制器", Gts_Return);
}
//XY平台运动到指定点位
public static void Gts_Ready_Correct(Vector Point)
{
//数据矫正
Vector Tmp_Point = new Vector();
//定义处理的变量
decimal Tmp_X = 0.0m;
decimal Tmp_Y = 0.0m;
//终点计算
//数据矫正
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Affinity_Point(0, Point.X, Point.Y, affinity_Matrices));
Tmp_X = Tmp_Point.X;
Tmp_Y = Tmp_Point.Y;
//清除FIFO 0
Clear_FIFO();
//初始化FIFO 0前瞻模块
Gts_Return = MC.GT_InitLookAhead(1, 0, Convert.ToDouble(Para_List.Parameter.LookAhead_EvenTime), Convert.ToDouble(Para_List.Parameter.LookAhead_MaxAcc), 4096, ref crdData[0]);
Log.Commandhandler("Line_Interpolation--初始化FIFO 0前瞻模块", Gts_Return);
//直线插补定位
Line_FIFO(Tmp_X, Tmp_Y);//将直线插补数据写入
//将前瞻数据压入控制器
Gts_Return = MC.GT_CrdData(1, Crd_IntPtr, 0);
Log.Commandhandler("Line_Interpolation--将前瞻数据压入控制器", Gts_Return);
//启动定位
Interpolation_Start();
}
//XY平台运动到指定点位
public static void Gts_Ready(Vector Point)
{
//清除FIFO 0
Clear_FIFO();
//初始化FIFO 0前瞻模块
Gts_Return = MC.GT_InitLookAhead(1, 0, Convert.ToDouble(Para_List.Parameter.LookAhead_EvenTime), Convert.ToDouble(Para_List.Parameter.LookAhead_MaxAcc), 4096, ref crdData[0]);
Log.Commandhandler("Line_Interpolation--初始化FIFO 0前瞻模块", Gts_Return);
//直线插补定位
Line_FIFO(Point.X, Point.Y);//将直线插补数据写入
//将前瞻数据压入控制器
Gts_Return = MC.GT_CrdData(1, Crd_IntPtr, 0);
Log.Commandhandler("Line_Interpolation--将前瞻数据压入控制器", Gts_Return);
//启动定位
Interpolation_Start();
}
/// <summary>
/// XY平台运动到配合振镜切割准备点 坐标矫正4
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
public static void Gts_Ready_Correct(decimal x, decimal y)
{
//数据矫正
Vector Tmp_Point = new Vector();
//定义处理的变量
decimal Tmp_X = 0.0m;
decimal Tmp_Y = 0.0m;
if (Para_List.Parameter.Gts_Affinity_Type == 2)
{
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Line_Fit_Coordinate_AM(x, y, Fit_Matrices_AM));
Tmp_X = Tmp_Point.X;
Tmp_Y = Tmp_Point.Y;
}
else
{
//数据矫正
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Affinity_Point(0, x, y, affinity_Matrices));
Tmp_X = Tmp_Point.X;
Tmp_Y = Tmp_Point.Y;
}
#if !DEBUG
//清除FIFO 0
Clear_FIFO();
//初始化FIFO 0前瞻模块
Gts_Return = MC.GT_InitLookAhead(1, 0, Convert.ToDouble(Para_List.Parameter.LookAhead_EvenTime), Convert.ToDouble(Para_List.Parameter.LookAhead_MaxAcc), 4096, ref crdData[0]);
Log.Commandhandler("Line_Interpolation--初始化FIFO 0前瞻模块", Gts_Return);
//直线插补定位
Line_FIFO(Tmp_X, Tmp_Y);//将直线插补数据写入
//将前瞻数据压入控制器
Gts_Return = MC.GT_CrdData(1, Crd_IntPtr, 0);
Log.Commandhandler("Line_Interpolation--将前瞻数据压入控制器", Gts_Return);
#endif
//启动定位
Interpolation_Start();
}
/// <summary>
/// List<Interpolation_Data> 有前瞻和坐标矫正的 FIFO数据追加
/// </summary>
/// <param name="Concat_Datas"></param>
public static void Tran_Data_Correct(List <Interpolation_Data> Concat_Datas)
{
#if !DEBUG
//清除FIFO 0
Clear_FIFO();
//初始化FIFO 0前瞻模块
Gts_Return = MC.GT_InitLookAhead(1, 0, Convert.ToDouble(Para_List.Parameter.LookAhead_EvenTime), Convert.ToDouble(Para_List.Parameter.LookAhead_MaxAcc), 4096, ref crdData[0]);
Log.Commandhandler("Line_Interpolation--初始化FIFO 0前瞻模块", Gts_Return);
#endif
//定义处理的变量
Vector Tmp_Point = new Vector();
decimal Tmp_End_X = 0.0m;
decimal Tmp_End_Y = 0.0m;
decimal Tmp_Center_X = 0.0m;
decimal Tmp_Center_Y = 0.0m;
decimal Tmp_Center_Start_X = 0.0m;
decimal Tmp_Center_Start_Y = 0.0m;
foreach (var o in Concat_Datas)
{
if (Para_List.Parameter.Gts_Affinity_Type == 2)
{
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Line_Fit_Coordinate_AM(o.End_x, o.End_y, Fit_Matrices_AM));
Tmp_End_X = Tmp_Point.X;
Tmp_End_Y = Tmp_Point.Y;
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Line_Fit_Coordinate_AM(o.Center_x, o.Center_y, Fit_Matrices_AM));
Tmp_Center_X = Tmp_Point.X;
Tmp_Center_Y = Tmp_Point.Y;
}
else
{
//数据矫正
//终点计算
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Affinity_Point(0, o.End_x, o.End_y, affinity_Matrices));
Tmp_End_X = Tmp_Point.X;
Tmp_End_Y = Tmp_Point.Y;
//圆心计算
Tmp_Point = new Vector(Gts_Cal_Data_Resolve.Get_Affinity_Point(0, o.Center_x, o.Center_y, affinity_Matrices));
Tmp_Center_X = Tmp_Point.X;
Tmp_Center_Y = Tmp_Point.Y;
}
//圆心与差值计算
Tmp_Center_Start_X = Tmp_Center_X - Tmp_End_X;
Tmp_Center_Start_Y = Tmp_Center_X - Tmp_End_Y;
#if !DEBUG
//替换数据
if (o.Type == 1) //直线
{
Line_FIFO(Tmp_End_X, Tmp_End_Y); //将直线插补数据写入
}
else if (o.Type == 2) //圆弧
{
Circle_R_FIFO(Tmp_End_X, Tmp_End_Y, o.Circle_radius, o.Circle_dir); //将圆弧插补写入
}
else if (o.Type == 3) //圆形
{
Circle_C_FIFO(Tmp_End_X, Tmp_End_Y, Tmp_Center_Start_X, Tmp_Center_Start_Y, o.Circle_dir); //将圆形插补写入
}
#endif
}
#if !DEBUG
//将前瞻数据压入控制器
Gts_Return = MC.GT_CrdData(1, Crd_IntPtr, 0);
Log.Commandhandler("Line_Interpolation--将前瞻数据压入控制器", Gts_Return);
#endif
}
