virtual public bool Move(MapAGVPosition end, double lineVelocity, double lineAcc, double lineDec, double lineJerk, double thetaVelocity, double thetaAcc, double thetaDec, double thetaJerk)
{
if (mipcControl.AGV_Move(end, lineVelocity, lineAcc, lineDec, lineJerk, thetaVelocity, thetaAcc, thetaDec, thetaJerk))
{
MapAGVPosition now = localData.Real;
double distance = 10000;
if (now != null)
{
distance = computeFunction.GetDistanceFormTwoAGVPosition(now, end) * 2;
}
if (lineVelocity != eq.Velocity)
{
SimulateControl.SetMoveCommandSimulateData(distance, lineVelocity, lineAcc, lineDec, lineJerk);
}
else
{
SimulateControl.SetMoveCommandSimulateData(distance, lineVelocity, lineAcc, lineDec, lineJerk, false);
}
localData.MoveControlData.MotionControlData.PreMoveStatus = EnumAxisMoveStatus.PreMove;
return(true);
}
else
{
return(false);
}
}
public bool Stop_EMS()
{
if (mipcControl.AGV_Stop(ems.Deceleration, ems.Jerk, turn_Moving.Deceleration, turn_Moving.Jerk))
{
SimulateControl.SetVChangeSimulateData(0, move.Acceleration, ems.Deceleration, ems.Jerk);
return(true);
}
else
{
return(false);
}
}
public bool Stop_SpinTurn()
{
if (mipcControl.AGV_Stop(move.Deceleration, move.Jerk, turn.Deceleration, turn.Jerk))
{
SimulateControl.SetVChangeSimulateData(0, move.Acceleration, move.Deceleration, move.Jerk);
return(true);
}
else
{
return(false);
}
}
public bool Move_VelocityChange(double newVelocity)
{
if (mipcControl.AGV_ChangeVelocity(newVelocity))
{
SimulateControl.SetVChangeSimulateData(newVelocity, move.Acceleration, move.Deceleration, move.Jerk);
return(true);
}
else
{
return(false);
}
}
public MotionControlHandler(MIPCControlHandler mipcControl, AlarmHandler alarmHandler, string normalLogName)
{
this.mipcControl = mipcControl;
this.alarmHandler = alarmHandler;
move = localData.MoveControlData.CreateMoveCommandConfig.Move;
turn_Moving = localData.MoveControlData.CreateMoveCommandConfig.Turn_Moving;
ems = localData.MoveControlData.CreateMoveCommandConfig.EMS;
turn = localData.MoveControlData.CreateMoveCommandConfig.Turn;
eq = localData.MoveControlData.CreateMoveCommandConfig.EQ;
SimulateControl = new SimulateControl("SimulateControl");
this.normalLogName = normalLogName;
setPositionTimer.Restart();
ReadTurnParameterXML();
spinTurnStopTheta = computeFunction.GetAccDecDistance(turn.Velocity, 0, turn.Deceleration, turn.Jerk);
}