public override void run()
{
new Task(() => {
while (isRun)
{
if (bcount < count)
{
double[] value;
destangle[bcount] = value = Axis6.PosToAngle(LastStruct.angle, poslist[0][bcount], poslist[1][bcount], poslist[2][bcount], N, O, A);
if (value == null)
{
destangle[bcount] = destangle[bcount - 1];
}
bcount++;
}
else
{
break;
}
}
}).Start();
while (isRun)
{
if (Motor.IsReady || !Motor.Enable)
{
if (docount < bcount)
{
Motor.MotorRun(destangle[docount]);
Axis6.MoveToAngle(destangle[docount]);
docount++;
}
}
Thread.Sleep(1);
}
LastStruct.angle = destangle[count - 1];
//Axis6.AxisStruct last = new Axis6.AxisStruct();
}
public override void run()
{
int f, s, d;
if (rg != r)
{
r = rg;
bcount = 0;
}
f = Motor.Frequency;
s = Motor.StartSpeed;
d = Motor.SpeedTime;
Motor.Frequency = (Motor.Frequency > 5000) ? 5000 : Motor.Frequency;
Motor.SetInfo(Motor.Frequency, Motor.Frequency, 1);
sumdata(false);
if (sumlot)
{
if (First)
{
linehandl = Axis6.DrawLine(sour, dest, 'b', 2);
}
}
LastStruct = dest;
if (bcount < count)
{
while (isRun)
{
if (Motor.IsReady || !Motor.Enable)
{
if (docount < count)
{
if (AngleList[docount] == null)
{
continue;
}
if (AngleList[docount] == LastStruct.angle)
{
docount++;
if (docount >= count)
{
if (inoutcount != 0)
{
StartInOut();
}
}
continue;
}
Axis6.MoveToAngle(AngleList[docount]);
//Motor.MotorRun(AngleList[docount]);
docount++;
if (docount >= count)
{
if (inoutcount != 0)
{
StartInOut();
}
}
}
else
{
break;
}
}
Thread.Sleep(1);
}
}
else
{
Axis6.PointToPointMove(AngleList);
}
if (!isRun)
{
return;
}
Motor.MotorRunList(AngleList);
while (isRun && !Motor.IsReady)
{
Thread.Sleep(1);
}
if (!isRun)
{
return;
}
Motor.SetInfo(s, f, d);
while (isRun && !Motor.IsReady)
{
Thread.Sleep(1);
}
//Axis6.AxisStruct last = new Axis6.AxisStruct();
//if(AngleList==null)
//{
// AngleList = Axis6.PointToPointLineAngle(sour, dest, rg);
// lineObj = Axis6.AngleListToObject(AngleList);
//}
//Motor.MotorRunList(AngleList);
//Thread.Sleep(DefDelay);
}