public bool Operate(int axis, int length, int speed, bool isContinue)
{
if (CanOperate(axis) || isContinue)
{
decimal resolution = AxisSet.GetResolution(axis);
if (Contra.StepLength != 0 && !IsMove(axis))
{
if (!CheckSoftLimit(axis, length, Contra.StepLength))
{
return(false);
}
CtrlCard.Sym_RelativeMove(axis, (int)((length > 0 ? Contra.StepLength : (0 - Contra.StepLength)) * resolution), speed, (int)AxisSet.GetSpeed(axis), (double)Contra.AddSpeedTime);
form.isM21 = false;
form.isEndM21 = false;
moveState = 0;
}
else if (!IsMove(axis))
{
if (!CheckSoftLimit(axis, length, length))
{
return(false);
}
CtrlCard.Sym_RelativeMove(axis, length, Contra.StartSpeed, speed, Contra.AddSpeedTime);
form.isM21 = false;
form.isEndM21 = false;
moveState = 0;
}
isOperate = true;
return(true);
}
return(false);
}
private int GetMovePosition(string axisType, Nullable <decimal> infoValue, decimal lastPosition, decimal logPosition, bool flag, bool flag2, out decimal jianxi)
{
decimal value = logPosition;
jianxi = 0;
if (infoValue.HasValue)
{
value += infoValue.Value;
if (isG90)
{
value -= lastPosition;
}
}
decimal resolution = AxisSet.GetResolution(axisType);
value = Contra.GetRealValue(axisType, value, AxisSet, flag, flag2, out jianxi);
return(Convert.ToInt32(value * 1000 / resolution));
}