////when stop move triggers, we check whether we have moved the minium distance,
////if not, we move the remaining distance
public void StopMove()
{
Axis axis = ConvertDir2Axis(dir);
dir = Direction.None;
e_RSPErrorCode res = MoveController.Instance.StopMove(enumMapper[armType], axis);
}
private bool IsRotateOrClip(WorkstationController.Hardware.Direction dir)
{
return(dir == WorkstationController.Hardware.Direction.ClampOff ||
dir == WorkstationController.Hardware.Direction.ClampOn ||
dir == WorkstationController.Hardware.Direction.RotateCW ||
dir == WorkstationController.Hardware.Direction.RotateCCW);
}
public void StartMove(ArmType armType, WorkstationController.Hardware.Direction dir, int speedMMPerSecond)
{
startPosition = GetPosition(armType);
this.dir = dir;
this.armType = armType;
this.speedMMPerSecond = speedMMPerSecond;
if (armType == ArmType.Roma)
{
GetClipperInfo(ref degree, ref clipWidth);
}
var eArmType = enumMapper[armType];
//var res = MoveController.Instance.StartMove(enumMapper[armType], (Direction)dir, speedMMPerSecond);
e_RSPErrorCode res = e_RSPErrorCode.RSP_ERROR_NONE;
e_CanMotorID motorID = e_CanMotorID.CanMotorID_Max;
double absPosition = 0;
switch (dir)
{
case Direction.Left:
case Direction.Right:
motorID = armType == ArmType.Liha ? e_CanMotorID.CanMotorID_Left_x : e_CanMotorID.CanMotorID_Right_x;
absPosition = dir == Direction.Left ? 0 : 700;
res = MoveController.Instance.StartMove(eArmType, Axis.X, speedMMPerSecond, absPosition, 0);
Debug.WriteLine(string.Format("movex result:{0}", res.ToString()));
break;
case Direction.Up:
case Direction.Down:
motorID = armType == ArmType.Liha ? e_CanMotorID.CanMotorID_Left_y : e_CanMotorID.CanMotorID_Right_y;
absPosition = dir == Direction.Down ? 400 : 0;
res = MoveController.Instance.StartMove(eArmType, Axis.Y, speedMMPerSecond, absPosition, 0);
break;
case Direction.ZDown:
case Direction.ZUp:
motorID = armType == ArmType.Liha ? e_CanMotorID.CanMotorID_Left_z : e_CanMotorID.CanMotorID_Right_z;
absPosition = dir == Direction.ZUp ? 0 : 300;
res = MoveController.Instance.StartMove(eArmType, Axis.Z, speedMMPerSecond, absPosition, 0);
break;
case Direction.RotateCCW:
case Direction.RotateCW:
this.armType = ArmType.Roma;
motorID = e_CanMotorID.CanMotorID_Rotate;
absPosition = dir == Direction.RotateCCW ? 360 : 720;
res = MoveController.Instance.StartMove(_eARM.右臂, Axis.R, speedMMPerSecond, absPosition, 0);
break;
case Direction.ClampOff:
case Direction.ClampOn:
this.armType = ArmType.Roma;
motorID = e_CanMotorID.CanMotorID_Clipper;
absPosition = dir == Direction.ClampOff ? 0 : 20;
res = MoveController.Instance.StartMove(_eARM.右臂, Axis.Clipper, speedMMPerSecond, absPosition, 0);
break;
}
ThrowIfErrorHappened(res);
}
