public static bool StopMotor(Electromotor Motor, AbstractComm Comm, bool ForceStope = false)
{
var result = true;
if (ForceStope)
{
result = result && Comm.SetCoilOff(Motor.StartCoil.Addr);
}
else
{
result = result && (!Motor.IsStarted || Comm.SetCoilOff(Motor.StartCoil.Addr));
}
Motor.IsStarted = false;
return(result);
}
/// <summary>
/// 初始化电机,先归零，再初始化
/// </summary>
/// <param name="Motor"></param>
/// <param name="Comm"></param>
/// <returns></returns>
public static bool InitMotor(Electromotor Motor, AbstractComm Comm, bool OnlyStart = false, decimal gap = 0m)
{
Constants.UserAbort = false;
//var result=MoveMotor(Motor, Comm, 0);
var result = StopMotor(Motor, Comm, true);
result = result && Comm.SetRegister(Motor.Distance.Addr, 0);
result = result && Comm.SetCoilOff(Motor.InitCoil.Addr);
result = result && Comm.SetCoilOn(Motor.InitCoil.Addr);
Motor.CurrentDistance = 0m;
Motor.IsBack = true;
Motor.IsStarted = false;
if (!OnlyStart)
{
result = result && Comm.Doned(30000, false, Motor.InitCoil);
if (Motor.ProgramZero > 0)
{
result = result && MoveMotor(Motor, Comm, 0, false, true, gap);
}
}
else
{
if (Motor.ProgramZero > 0)
{
Task.Run(() =>
{
MoveMotor(Motor, Comm, 0, false, true, gap);
});
}
}
return(result);
}