private void WriteVChangeLog(EnumSimulateVelocityType type, double newVelocity)
{
SimulateVelocityData temp = simulateVelocityData;
if (temp == null)
{
return;
}
string message = String.Concat("VChange Type : ", type.ToString(), ", newVelocity : ", newVelocity.ToString("0"), ", Time : ", temp.Time.ToString("mm:ss.fff"));
for (int i = 0; i < temp.SimulateDataList.Count; i++)
{
message = String.Concat(message, "\r\n", "index : ", i.ToString(),
", Type : ", temp.SimulateDataList[i].Type.ToString(),
", StartTime : ", temp.SimulateDataList[i].StartTime.ToString("0.00"),
", EndTime : ", temp.SimulateDataList[i].EndTime.ToString("0.00"),
", DeltaTime : ", temp.SimulateDataList[i].DeltaTime.ToString("0.00"),
", StartAcc : ", temp.SimulateDataList[i].StartAcc.ToString("0.00"),
", EndAcc : ", temp.SimulateDataList[i].EndAcc.ToString("0.00"),
", StartVelocity : ", temp.SimulateDataList[i].StartVelocity.ToString("0.00"),
", EndVelocity : ", temp.SimulateDataList[i].EndVelocity.ToString("0.00"),
", DeltaVelocity : ", temp.SimulateDataList[i].DeltaVelocity.ToString("0.00"),
", Jerk : ", temp.SimulateDataList[i].Jerk.ToString("0.00"));
}
WriteLog(7, "", message);
}
public void SetMoveCommandSimulateData(double distance, double velocity, double acc, double dec, double jerk, bool notEQMove = true)
{
SimulateVelocityData temp = new SimulateVelocityData();
AxisData axis = new AxisData(acc, dec, jerk, velocity, Math.Abs(distance));
temp.Command = axis;
axis = new AxisData(acc, dec, jerk, velocity, Math.Abs(distance));
temp.Axis = axis;
axis = new AxisData(acc, dec, jerk, velocity, Math.Abs(distance));
SetSimulateParameter(ref temp, axis, notEQMove);
temp.Time = DateTime.Now;
simulateVelocityData = temp;
WriteVChangeLog(EnumSimulateVelocityType.Isokinetic, velocity);
}
public void GetAccOrDecZeroDistanceAndVelocity_SpeedUp(ref double distance, ref double velocity)
{
try
{
SimulateVelocityData temp = simulateVelocityData;
if (temp == null)
{
WriteLog(3, "", "TatalError simulateVelocityData == null");
velocity = localData.MoveControlData.MotionControlData.SimulateLineVelocity;
distance = 1000;
}
DateTime now = DateTime.Now;
double deltaTime = (now - temp.Time).TotalSeconds;
int index = 0;
while (index < temp.SimulateDataList.Count && temp.SimulateDataList[index].EndTime < deltaTime)
{
index++;
}
SimulateData data;
if (index < temp.SimulateDataList.Count)
{
data = temp.SimulateDataList[index];
}
else
{
data = temp.SimulateDataList[index - 1];
}
double accOrDec = GetNowAccOrDec(data, deltaTime);
double t = accOrDec / temp.Command.Jerk;
double deltaVelocity = temp.Command.Jerk / 2 * Math.Pow(t, 2);
double deltaDistance = temp.Command.Jerk / 6 * Math.Pow(t, 3);
switch (data.Type)
{
case EnumSimulateVelocityType.AccJerkUp:
case EnumSimulateVelocityType.Accing:
case EnumSimulateVelocityType.AccJerkDown:
velocity = localData.MoveControlData.MotionControlData.SimulateLineVelocity - deltaVelocity;
distance = -(velocity * t + deltaDistance);
break;
case EnumSimulateVelocityType.Isokinetic:
velocity = localData.MoveControlData.MotionControlData.SimulateLineVelocity;
distance = 0;
break;
case EnumSimulateVelocityType.DecJerkUp:
case EnumSimulateVelocityType.Decing:
case EnumSimulateVelocityType.DecJerkDown:
velocity = localData.MoveControlData.MotionControlData.SimulateLineVelocity - deltaVelocity;
distance = (velocity * t + deltaDistance);
break;
default:
break;
}
}
catch (Exception ex)
{
WriteLog(3, "", String.Concat("Exception : ", ex.ToString()));
velocity = localData.MoveControlData.MotionControlData.LineVelocity;
distance = 1000;
}
}
public double GetStopDistanceBySimulate(AxisData axis)
{
try
{
double velocity = 0;
double accdecDistance = 0;
SimulateVelocityData temp = simulateVelocityData;
if (temp == null)
{
WriteLog(3, "", "TatalError simulateVelocityData == null");
return(-1);
}
DateTime now = DateTime.Now;
double deltaTime = (now - temp.Time).TotalSeconds;
double vel = GetSimulateVelocity(temp, now);
if (vel == 0)
{
return(0);
}
int index = 0;
while (index < temp.SimulateDataList.Count && temp.SimulateDataList[index].EndTime < deltaTime)
{
index++;
}
SimulateData data;
if (index < temp.SimulateDataList.Count)
{
data = temp.SimulateDataList[index];
}
else
{
data = temp.SimulateDataList[index - 1];
}
double accOrDec = GetNowAccOrDec(data, deltaTime);
double t = accOrDec / axis.Jerk;
double deltaVelocity = axis.Jerk / 2 * Math.Pow(t, 2);
double deltaDistance = axis.Jerk / 6 * Math.Pow(t, 3);
switch (data.Type)
{
case EnumSimulateVelocityType.AccJerkUp:
case EnumSimulateVelocityType.Accing:
case EnumSimulateVelocityType.AccJerkDown:
velocity = vel + deltaVelocity;
accdecDistance = -(velocity * t - deltaDistance);
break;
case EnumSimulateVelocityType.Isokinetic:
velocity = vel;
accdecDistance = 0;
break;
case EnumSimulateVelocityType.DecJerkUp:
case EnumSimulateVelocityType.Decing:
case EnumSimulateVelocityType.DecJerkDown:
velocity = vel + deltaVelocity;
accdecDistance = (velocity * t - deltaDistance);
break;
default:
break;
}
double distance = computeFunction.GetAccDecDistance(velocity, 0, axis.Deceleration, axis.Jerk);
if (distance - accdecDistance < 0)
{
WriteLog(1, "", String.Concat("accOrDec : ", accOrDec.ToString("0.0"), ", vel : ", vel.ToString("0.0")));
}
return(distance - accdecDistance);
}
catch (Exception ex)
{
WriteLog(3, "", String.Concat("Exception : ", ex.ToString()));
return(-1);
}
}
private double GetSimulateVelocity(SimulateVelocityData simulateData, DateTime now)
{
double deltaTime = (now - simulateData.Time).TotalSeconds;
bool isIsokinetic = false;
int index = 0;
while (index < simulateData.SimulateDataList.Count && simulateData.SimulateDataList[index].EndTime < deltaTime)
{
index++;
}
if (index == simulateData.SimulateDataList.Count)
{
localData.MoveControlData.MotionControlData.SimulateIsIsokinetic = true;
return(simulateData.SimulateDataList[index - 1].EndVelocity);
}
SimulateData data = simulateData.SimulateDataList[index];
double velocity = 0;
switch (data.Type)
{
case EnumSimulateVelocityType.AccJerkUp:
deltaTime = deltaTime - data.StartTime;
velocity = data.StartVelocity + data.Jerk * Math.Pow(deltaTime, 2) / 2;
break;
case EnumSimulateVelocityType.Accing:
deltaTime = deltaTime - data.StartTime;
velocity = data.StartVelocity + data.StartAcc * deltaTime;
break;
case EnumSimulateVelocityType.AccJerkDown:
deltaTime = data.EndTime - deltaTime;
velocity = data.EndVelocity - data.Jerk * Math.Pow(deltaTime, 2) / 2;
break;
case EnumSimulateVelocityType.Isokinetic:
isIsokinetic = true;
velocity = data.StartVelocity;
break;
case EnumSimulateVelocityType.DecJerkUp:
deltaTime = deltaTime - data.StartTime;
velocity = data.StartVelocity - data.Jerk * Math.Pow(deltaTime, 2) / 2;
break;
case EnumSimulateVelocityType.Decing:
deltaTime = deltaTime - data.StartTime;
velocity = data.StartVelocity - data.StartAcc * deltaTime;
break;
case EnumSimulateVelocityType.DecJerkDown:
deltaTime = data.EndTime - deltaTime;
velocity = data.EndVelocity + data.Jerk * Math.Pow(deltaTime, 2) / 2;
break;
default:
break;
}
localData.MoveControlData.MotionControlData.SimulateIsIsokinetic = isIsokinetic;
return(velocity);
}
public void SetVChangeSimulateData(double velocity, double acc, double dec, double jerk)
{
WriteLog(7, "", "start");
try
{
SimulateVelocityData temp = simulateVelocityData;
if (temp == null)
{
return;
}
DateTime now = DateTime.Now;
double deltaTime = (now - temp.Time).TotalSeconds;
int index = 0;
while (index < temp.SimulateDataList.Count && temp.SimulateDataList[index].EndTime < deltaTime)
{
index++;
}
SimulateData data;
if (index < temp.SimulateDataList.Count)
{
data = temp.SimulateDataList[index];
}
else
{
data = temp.SimulateDataList[index - 1];
}
AxisData axis = new AxisData(acc, dec, jerk, velocity);
switch (data.Type)
{
case EnumSimulateVelocityType.AccJerkUp:
case EnumSimulateVelocityType.Accing:
case EnumSimulateVelocityType.AccJerkDown:
simulateVelocityData = SetVChange_Acc(temp, axis, data, now);
break;
case EnumSimulateVelocityType.Isokinetic:
simulateVelocityData = SetVChange_Isokinetic(temp, axis, data, now);
break;
case EnumSimulateVelocityType.DecJerkUp:
case EnumSimulateVelocityType.Decing:
case EnumSimulateVelocityType.DecJerkDown:
simulateVelocityData = SetVChange_Dec(temp, axis, data, now);
break;
default:
break;
}
WriteVChangeLog(data.Type, velocity);
}
catch { }
WriteLog(7, "", "end");
}
private SimulateVelocityData SetVChange_Dec(SimulateVelocityData nowData, AxisData axis, SimulateData data, DateTime time)
{
double nowDec = GetNowAccOrDec(data, (time - nowData.Time).TotalSeconds);
double deltaVelocity = Math.Pow(nowDec, 2) / (2 * axis.Jerk);
double nowVelocity = GetNowVelocity(data, (time - nowData.Time).TotalSeconds);
double isokineticVelocity = nowVelocity - deltaVelocity;
double startVelocity = nowVelocity + deltaVelocity;
double startTime = -nowDec / axis.Jerk;;
SimulateVelocityData returnData = new SimulateVelocityData();
SimulateData temp;
returnData.Command = nowData.Command;
returnData.Time = time;
if (axis.Velocity > isokineticVelocity)
{ // 升速度.
CheckAxisDataOKWithVelocityChange(ref axis, startVelocity, isokineticVelocity);
CheckAxisDataOKWithVelocityChange(ref axis, isokineticVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_DecJerkDown(nowVelocity, axis.Deceleration, axis.Jerk, 0);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_AccJerkUp(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Acceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_Accing(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1], axis);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_AccJerkDown(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Acceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
}
else if (axis.Velocity < isokineticVelocity)
{ // 減速度.
CheckAxisDataOKWithVelocityChange(ref axis, startVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_DecJerkUp(startVelocity, axis.Deceleration, axis.Jerk, startTime);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_Decing(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1], axis);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_DecJerkDown(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Deceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
}
else
{ // 等速度.
CheckAxisDataOKWithVelocityChange(ref axis, startVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_DecJerkDown(nowVelocity, axis.Deceleration, axis.Jerk, 0);
returnData.SimulateDataList.Add(temp);
}
temp = new SimulateData();
temp.SetSimulateData_Isokinetic(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
returnData.Axis = axis;
return(returnData);
}
private SimulateVelocityData SetVChange_Isokinetic(SimulateVelocityData nowData, AxisData axis, SimulateData data, DateTime time)
{
double nowVelocity = GetNowVelocity(data, (time - nowData.Time).TotalSeconds);
double startTime = 0;
SimulateVelocityData returnData = new SimulateVelocityData();
SimulateData temp;
returnData.Command = nowData.Command;
returnData.Time = time;
if (axis.Velocity > nowVelocity)
{ // 升速度.
CheckAxisDataOKWithVelocityChange(ref axis, nowVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_AccJerkUp(nowVelocity, axis.Acceleration, axis.Jerk, startTime);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_Accing(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1], axis);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_AccJerkDown(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Acceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
}
else if (axis.Velocity < nowVelocity)
{ // 減速度.
CheckAxisDataOKWithVelocityChange(ref axis, nowVelocity, axis.Velocity);
temp = new SimulateData();
temp.SetSimulateData_DecJerkUp(nowVelocity, axis.Deceleration, axis.Jerk, startTime);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_Decing(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1], axis);
returnData.SimulateDataList.Add(temp);
temp = new SimulateData();
temp.SetSimulateData_DecJerkDown(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
axis.Deceleration, axis.Jerk,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
}
else
{ // 等速度.
temp = new SimulateData();
temp.SetSimulateData_Isokinetic(axis.Velocity, startTime);
returnData.SimulateDataList.Add(temp);
}
temp = new SimulateData();
temp.SetSimulateData_Isokinetic(returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndVelocity,
returnData.SimulateDataList[returnData.SimulateDataList.Count - 1].EndTime);
returnData.SimulateDataList.Add(temp);
returnData.Axis = axis;
return(returnData);
}
private void SetSimulateParameter(ref SimulateVelocityData simulateData, AxisData axisData, bool notEQMove)
{
simulateData.SimulateDataList.Add(new SimulateData()); // index 0
simulateData.SimulateDataList.Add(new SimulateData()); // index 1
simulateData.SimulateDataList.Add(new SimulateData()); // index 2
simulateData.SimulateDataList.Add(new SimulateData()); // index 3
simulateData.SimulateDataList.Add(new SimulateData()); // index 4
simulateData.SimulateDataList.Add(new SimulateData()); // index 5
simulateData.SimulateDataList.Add(new SimulateData()); // index 6
simulateData.SimulateDataList.Add(new SimulateData()); // index 7
CheckAxisDataOK(ref axisData, notEQMove);
simulateData.SimulateDataList[0].StartTime = 0;
simulateData.SimulateDataList[0].StartPosition = 0;
simulateData.SimulateDataList[0].StartAcc = 0;
simulateData.SimulateDataList[0].StartVelocity = 0;
simulateData.SimulateDataList[0].DeltaTime = axisData.Acceleration / axisData.Jerk;
simulateData.SimulateDataList[0].EndTime = simulateData.SimulateDataList[0].StartTime + simulateData.SimulateDataList[0].DeltaTime;
simulateData.SimulateDataList[0].EndAcc = axisData.Acceleration;
simulateData.SimulateDataList[0].DeltaVelocity = axisData.Jerk * Math.Pow(simulateData.SimulateDataList[0].DeltaTime, 2) / 2; // 1/2 jerk * t^2
simulateData.SimulateDataList[0].EndVelocity = simulateData.SimulateDataList[0].StartVelocity + simulateData.SimulateDataList[0].DeltaVelocity;
simulateData.SimulateDataList[0].DeltaPosition = axisData.Jerk * Math.Pow(simulateData.SimulateDataList[0].DeltaTime, 3) / 6; // 1/6 jerk * t^3
simulateData.SimulateDataList[0].EndPosition = simulateData.SimulateDataList[0].StartPosition + simulateData.SimulateDataList[0].DeltaPosition;
simulateData.SimulateDataList[0].Jerk = axisData.Jerk;
simulateData.SimulateDataList[0].Type = EnumSimulateVelocityType.AccJerkUp;
simulateData.SimulateDataList[2].DeltaTime = axisData.Acceleration / axisData.Jerk;
simulateData.SimulateDataList[2].EndAcc = 0;
simulateData.SimulateDataList[2].EndVelocity = axisData.Velocity;
simulateData.SimulateDataList[2].DeltaVelocity = axisData.Jerk * Math.Pow(simulateData.SimulateDataList[2].DeltaTime, 2) / 2; // 1/2 jerk * t^2
simulateData.SimulateDataList[2].DeltaPosition = simulateData.SimulateDataList[2].EndVelocity * simulateData.SimulateDataList[2].DeltaTime - axisData.Jerk * Math.Pow(simulateData.SimulateDataList[2].DeltaTime, 3) / 6; // 1/6 jerk * t^3
simulateData.SimulateDataList[2].Jerk = axisData.Jerk;
simulateData.SimulateDataList[2].Type = EnumSimulateVelocityType.AccJerkDown;
simulateData.SimulateDataList[1].StartAcc = simulateData.SimulateDataList[0].EndAcc;
simulateData.SimulateDataList[1].StartTime = simulateData.SimulateDataList[0].EndTime;
simulateData.SimulateDataList[1].StartPosition = simulateData.SimulateDataList[0].EndPosition;
simulateData.SimulateDataList[1].StartVelocity = simulateData.SimulateDataList[0].EndVelocity;
simulateData.SimulateDataList[1].DeltaVelocity = axisData.Velocity - simulateData.SimulateDataList[0].DeltaVelocity - simulateData.SimulateDataList[2].DeltaVelocity;
simulateData.SimulateDataList[1].EndAcc = simulateData.SimulateDataList[1].StartAcc;
simulateData.SimulateDataList[1].EndVelocity = simulateData.SimulateDataList[1].StartVelocity + simulateData.SimulateDataList[1].DeltaVelocity;
simulateData.SimulateDataList[1].DeltaTime = simulateData.SimulateDataList[1].DeltaVelocity / simulateData.SimulateDataList[1].StartAcc;
simulateData.SimulateDataList[1].EndTime = simulateData.SimulateDataList[1].StartTime + simulateData.SimulateDataList[1].DeltaTime;
simulateData.SimulateDataList[1].DeltaPosition = simulateData.SimulateDataList[1].DeltaTime * (simulateData.SimulateDataList[1].StartVelocity + simulateData.SimulateDataList[1].EndVelocity) / 2;
simulateData.SimulateDataList[1].EndPosition = simulateData.SimulateDataList[1].StartPosition + simulateData.SimulateDataList[1].DeltaPosition;
simulateData.SimulateDataList[1].Jerk = axisData.Jerk;
simulateData.SimulateDataList[1].Type = EnumSimulateVelocityType.Accing;
simulateData.SimulateDataList[2].StartTime = simulateData.SimulateDataList[1].EndTime;
simulateData.SimulateDataList[2].StartVelocity = simulateData.SimulateDataList[1].EndVelocity;
simulateData.SimulateDataList[2].StartPosition = simulateData.SimulateDataList[1].EndPosition;
simulateData.SimulateDataList[2].StartAcc = simulateData.SimulateDataList[1].EndAcc;
simulateData.SimulateDataList[2].EndTime = simulateData.SimulateDataList[2].StartTime + simulateData.SimulateDataList[2].DeltaTime;
simulateData.SimulateDataList[2].EndPosition = simulateData.SimulateDataList[2].StartPosition + simulateData.SimulateDataList[2].DeltaPosition;
simulateData.SimulateDataList[4].DeltaTime = axisData.Deceleration / axisData.Jerk;
simulateData.SimulateDataList[4].StartVelocity = simulateData.SimulateDataList[2].EndVelocity;
simulateData.SimulateDataList[4].StartAcc = 0;
simulateData.SimulateDataList[4].EndAcc = axisData.Deceleration;
simulateData.SimulateDataList[4].DeltaVelocity = axisData.Jerk * Math.Pow(simulateData.SimulateDataList[4].DeltaTime, 2) / 2;
simulateData.SimulateDataList[4].EndVelocity = simulateData.SimulateDataList[4].StartVelocity - simulateData.SimulateDataList[4].DeltaVelocity;
simulateData.SimulateDataList[4].DeltaPosition = simulateData.SimulateDataList[4].StartVelocity * simulateData.SimulateDataList[4].DeltaTime - axisData.Jerk * Math.Pow(simulateData.SimulateDataList[4].DeltaTime, 3) / 6;// 1/6 jerk * t^3
simulateData.SimulateDataList[4].Jerk = axisData.Jerk;
simulateData.SimulateDataList[4].Type = EnumSimulateVelocityType.DecJerkUp;
simulateData.SimulateDataList[6].EndVelocity = 0;
simulateData.SimulateDataList[6].EndAcc = 0;
simulateData.SimulateDataList[6].StartAcc = simulateData.SimulateDataList[4].EndAcc;
simulateData.SimulateDataList[6].EndPosition = axisData.Position;
simulateData.SimulateDataList[6].DeltaTime = axisData.Deceleration / axisData.Jerk;
simulateData.SimulateDataList[6].DeltaVelocity = axisData.Jerk * Math.Pow(simulateData.SimulateDataList[6].DeltaTime, 2) / 2; // 1/2 jerk * t^2
simulateData.SimulateDataList[6].DeltaPosition = axisData.Jerk * Math.Pow(simulateData.SimulateDataList[6].DeltaTime, 3) / 6; // 1/6 jerk * t^3
simulateData.SimulateDataList[6].StartVelocity = simulateData.SimulateDataList[6].EndVelocity + simulateData.SimulateDataList[6].DeltaVelocity;
simulateData.SimulateDataList[6].StartPosition = simulateData.SimulateDataList[6].EndPosition - simulateData.SimulateDataList[6].DeltaPosition;
simulateData.SimulateDataList[6].Jerk = axisData.Jerk;
simulateData.SimulateDataList[6].Type = EnumSimulateVelocityType.DecJerkDown;
simulateData.SimulateDataList[5].StartVelocity = simulateData.SimulateDataList[4].EndVelocity;
simulateData.SimulateDataList[5].EndVelocity = simulateData.SimulateDataList[6].StartVelocity;
simulateData.SimulateDataList[5].StartAcc = simulateData.SimulateDataList[4].EndAcc;
simulateData.SimulateDataList[5].EndAcc = simulateData.SimulateDataList[6].StartAcc;
simulateData.SimulateDataList[5].EndPosition = simulateData.SimulateDataList[6].StartPosition;
simulateData.SimulateDataList[5].DeltaVelocity = simulateData.SimulateDataList[5].StartVelocity - simulateData.SimulateDataList[5].EndVelocity;
simulateData.SimulateDataList[5].DeltaTime = simulateData.SimulateDataList[5].DeltaVelocity / simulateData.SimulateDataList[5].StartAcc;
simulateData.SimulateDataList[5].DeltaPosition = simulateData.SimulateDataList[5].DeltaTime * (simulateData.SimulateDataList[5].StartVelocity + simulateData.SimulateDataList[5].EndVelocity) / 2;
simulateData.SimulateDataList[5].StartPosition = simulateData.SimulateDataList[5].EndPosition - simulateData.SimulateDataList[5].DeltaPosition;
simulateData.SimulateDataList[5].Jerk = axisData.Jerk;
simulateData.SimulateDataList[5].Type = EnumSimulateVelocityType.Decing;
simulateData.SimulateDataList[4].EndPosition = simulateData.SimulateDataList[5].StartPosition;
simulateData.SimulateDataList[4].StartPosition = simulateData.SimulateDataList[4].EndPosition - simulateData.SimulateDataList[4].DeltaPosition;
simulateData.SimulateDataList[3].StartPosition = simulateData.SimulateDataList[2].EndPosition;
simulateData.SimulateDataList[3].EndPosition = simulateData.SimulateDataList[4].StartPosition;
simulateData.SimulateDataList[3].DeltaPosition = simulateData.SimulateDataList[3].EndPosition - simulateData.SimulateDataList[3].StartPosition;
simulateData.SimulateDataList[3].StartVelocity = simulateData.SimulateDataList[2].EndVelocity;
simulateData.SimulateDataList[3].EndVelocity = simulateData.SimulateDataList[3].StartVelocity;
simulateData.SimulateDataList[3].DeltaVelocity = 0;
simulateData.SimulateDataList[3].StartAcc = 0;
simulateData.SimulateDataList[3].EndAcc = 0;
simulateData.SimulateDataList[3].StartTime = simulateData.SimulateDataList[2].EndTime;
simulateData.SimulateDataList[3].DeltaTime = simulateData.SimulateDataList[3].DeltaPosition / simulateData.SimulateDataList[3].StartVelocity;
simulateData.SimulateDataList[3].EndTime = simulateData.SimulateDataList[3].StartTime + simulateData.SimulateDataList[3].DeltaTime;
simulateData.SimulateDataList[3].Jerk = axisData.Jerk;
simulateData.SimulateDataList[3].Type = EnumSimulateVelocityType.Isokinetic;
simulateData.SimulateDataList[4].StartTime = simulateData.SimulateDataList[3].EndTime;
simulateData.SimulateDataList[4].EndTime = simulateData.SimulateDataList[4].StartTime + simulateData.SimulateDataList[4].DeltaTime;
simulateData.SimulateDataList[5].StartTime = simulateData.SimulateDataList[4].EndTime;
simulateData.SimulateDataList[5].EndTime = simulateData.SimulateDataList[5].StartTime + simulateData.SimulateDataList[5].DeltaTime;
simulateData.SimulateDataList[6].StartTime = simulateData.SimulateDataList[5].EndTime;
simulateData.SimulateDataList[6].EndTime = simulateData.SimulateDataList[6].StartTime + simulateData.SimulateDataList[6].DeltaTime;
simulateData.SimulateDataList[7].StartTime = simulateData.SimulateDataList[6].EndTime;
simulateData.SimulateDataList[7].EndTime = simulateData.SimulateDataList[6].EndTime + 1;
simulateData.SimulateDataList[7].StartVelocity = simulateData.SimulateDataList[6].EndVelocity;
simulateData.SimulateDataList[7].EndVelocity = simulateData.SimulateDataList[6].EndVelocity;
}
