public static uint ConvertDistance(MotorParameter motorPara, double distance)
{
distance *= motorPara.IsReversed ? -1 : 1;
//uint content = (uint)(Math.Abs(distance) * this.motorParaMap[axis].Ratio);
uint content = (uint)Math.Round((Math.Abs(distance) * motorPara.Ratio));
if (distance < 0)
{
content |= 0x80000000;
}
return(content);
}
public static double ConvertBackSpeed(MotorParameter motorPara, int pulseSpeed)
{
return(CalSpeed((uint)pulseSpeed) / motorPara.Ratio);
}
public static uint ConvertSpeed(MotorParameter motorPara, double speed)
{
uint content = (uint)(speed * motorPara.Ratio);
return(CalSpeed(content));
}
public static double ConvertBackDistance(MotorParameter motorPara, int pulseDistance)
{
double factor = motorPara.IsReversed ? -1 : 1;
return(Math.Round(pulseDistance / motorPara.Ratio * factor, 2));
}
