//-->函数：设置Y轴绝对位置
public static void SetYPosition(double position, double speed, double acc)
{
if (Form_Rotate303.SerialRotate.IsOpen == false)
{
MessageBox.Show("请先打开串口！");
return;
}
if (Form_Rotate303.Control_State == false)
{
MessageBox.Show("请先连接转台！");
return;
}
if (Form_Rotate303.Y_IsZero == false)
{
MessageBox.Show("请先给Y轴寻零 ！");
return;
}
if ((Form_Rotate303.Y_SetRunWay != 1 && Form_Rotate303.Y_SetRunWay != 0) && Form_Rotate303.Y_Run == true)
{
MessageBox.Show("请先停止转台！");
return;
}
Form_Rotate303.SerialRotate.Write(Form_Rotate303.Rotate.YSet(0, position, speed, acc), 0, 16); //设置绝对位置运行和方式
Form_Rotate303.Delay(50);
Form_Rotate303.SerialRotate.Write(Form_Rotate303.Rotate.YRun_Position(), 0, 16); //设置绝对位置运行
Form_Rotate303.Y_SetRunWay = 1;
Form_Rotate303.Y_Run = true;
}
//-->函数：Y轴相对位置转动
public static void RelYRun(double yPosToRun, double ySpeed, double yAcc)
{
double _rotatePosition = Form_Rotate303.Yposition; //转台位置
double _position = yPosToRun + _rotatePosition; //
int _circleNum = Convert.ToInt32(Math.Truncate(_position / 360));
if (Math.Abs(_position) < 360) //不过360度切换点
{
Form_Rotate303.SerialRotate.Write(Form_Rotate303.Rotate.YSet(0, _position, ySpeed, yAcc), 0, 16);
//设置绝对位置运行和方式
Form_Rotate303.Delay(50);
Form_Rotate303.SerialRotate.Write(Form_Rotate303.Rotate.YRun_Position(), 0, 16); //设置绝对位置运行
Form_Rotate303.Delay(500);
Form_Rotate303.Y_SetRunWay = 1;
Form_Rotate303.Y_Run = true;
Form_Rotate303.Delay(1000);
WaitYAxis(); //等待停止
Form_Rotate303.Delay(500);
}
else //过360度切换点，需要转圈
{
for (int i = 1; i <= Math.Abs(_circleNum); i++) //转动几个360度
{
Form_Rotate303.SerialRotate.Write(
Form_Rotate303.Rotate.YSet(0, Convert.ToDouble(_circleNum / Math.Abs(_circleNum) * 359.9999), ySpeed,
yAcc), 0, 16); //设置绝对位置运行和方式
Form_Rotate303.Delay(50);
Form_Rotate303.SerialRotate.Write(Form_Rotate303.Rotate.YRun_Position(), 0, 16); //设置绝对位置运行
Form_Rotate303.Delay(500);
Form_Rotate303.Y_SetRunWay = 1;
Form_Rotate303.Y_Run = true;
Form_Rotate303.Delay(1000);
WaitYAxis(); //等待停止
Form_Rotate303.Delay(500);
}
Form_Rotate303.SerialRotate.Write(Form_Rotate303.Rotate.YSet(0, _position % 360, ySpeed, yAcc), 0, 16);
//设置绝对位置运行和方式
Form_Rotate303.Delay(50);
Form_Rotate303.SerialRotate.Write(Form_Rotate303.Rotate.YRun_Position(), 0, 16); //设置绝对位置运行
Form_Rotate303.Delay(500);
Form_Rotate303.Y_SetRunWay = 1;
Form_Rotate303.Y_Run = true;
Form_Rotate303.Delay(1000);
WaitYAxis(); //等待停止
Form_Rotate303.Delay(500);
}
}