private void buttonGoDownAndBrokeCartridge_Click(object sender, EventArgs e)
{
CartridgeCell cell = CartridgeCell.MixCell;
if (selectFirstCell.Checked)
{
cell = CartridgeCell.FirstCell;
}
else if (selectSecondCell.Checked)
{
cell = CartridgeCell.SecondCell;
}
else if (selectThirdCell.Checked)
{
cell = CartridgeCell.ThirdCell;
}
else if (selectResultCell.Checked)
{
cell = CartridgeCell.ResultCell;
}
Analyzer.TaskExecutor.StartTask(
() =>
{
Analyzer.Needle.GoDownAndPerforateCartridge(cell);
});
}
private void buttonTurnToCartridge_Click(object sender, EventArgs e)
{
CartridgeCell cell = CartridgeCell.MixCell;
if (selectFirstCell.Checked)
{
cell = CartridgeCell.FirstCell;
}
else if (selectSecondCell.Checked)
{
cell = CartridgeCell.SecondCell;
}
else if (selectThirdCell.Checked)
{
cell = CartridgeCell.ThirdCell;
}
else if (selectResultCell.Checked)
{
cell = CartridgeCell.ResultCell;
}
Analyzer.TaskExecutor.StartTask(
() =>
{
Analyzer.Needle.HomeLifterAndRotator();
Analyzer.Needle.TurnToCartridge(cell);
});
}
public void TurnToCartridge(CartridgeCell cell)
{
Logger.Debug($"[{nameof(NeedleUnit)}] - Start turn to cartridge.");
List <ICommand> commands = new List <ICommand>();
int turnSteps = 0;
//TODO: Что то тут не так (if-else)
if (cell == CartridgeCell.ResultCell)
{
turnSteps = Options.RotatorStepsToResultCell;
}
if (cell == CartridgeCell.MixCell)
{
turnSteps = Options.RotatorStepsToMixCell;
}
else if (cell == CartridgeCell.FirstCell)
{
turnSteps = Options.RotatorStepsToFirstCell;
}
else if (cell == CartridgeCell.SecondCell)
{
turnSteps = Options.RotatorStepsToSecondCell;
}
else if (cell == CartridgeCell.ThirdCell)
{
turnSteps = Options.RotatorStepsToThirdCell;
}
commands.Add(new SetSpeedCommand(Options.RotatorStepper, 50));
steppers = new Dictionary <int, int>()
{
{ Options.RotatorStepper, turnSteps - RotatorPosition }
};
commands.Add(new MoveCncCommand(steppers));
executor.WaitExecution(commands);
RotatorPosition = turnSteps;
Logger.Debug($"[{nameof(NeedleUnit)}] - Turn to cartridge finished.");
}
public void GoDownAndPerforateCartridge(CartridgeCell cartridgeCell, bool needSuction = true)
{
Logger.Debug($"[{nameof(NeedleUnit)}] - Start going down and perforating cartridge.");
List <ICommand> commands = new List <ICommand>();
int steps = Options.LifterStepsToCell;
if (cartridgeCell == CartridgeCell.MixCell)
{
if (needSuction)
{
steps = Options.LifterStepsToMixCellAtSuction;
}
else
{
steps = Options.LifterStepsToMixCell;
}
}
if (LifterPositionUnderfined)
{
HomeLifter();
}
// Протыкание
commands.Add(new SetSpeedCommand(Options.LifterStepper, (uint)Options.LifterSpeed));
steppers = new Dictionary <int, int>()
{
{ Options.LifterStepper, steps - LifterPosition }
};
commands.Add(new MoveCncCommand(steppers));
executor.WaitExecution(commands);
LifterPosition = steps;
Logger.Debug($"[{nameof(NeedleUnit)}] - Going down and piercing cartridge finished.");
}
/// <summary>
/// Поместить ячеку картриджа в роторе под иглу
/// </summary>
/// <param name="cartridgePosition">Номер позиции картриджа в роторе</param>
/// <param name="cartridgeCell">Ячейка катриджа</param>
/// <param name="cellPosition">Позиция ячейки картриджа</param>
public void PlaceCellUnderNeedle(int cartridgePosition, CartridgeCell cartridgeCell, CellPosition cellPosition = CellPosition.CellCenter)
{
Logger.Debug($"[{nameof(RotorUnit)}] - Start placing cell under needle.");
List <ICommand> commands = new List <ICommand>();
commands.Add(new SetSpeedCommand(Options.RotorStepper, (uint)Options.RotorSpeed));
int turnSteps = 0;
if (cartridgeCell == CartridgeCell.ResultCell)
{
turnSteps = Options.StepsToNeedleResultCenter;
}
else if (cartridgeCell == CartridgeCell.MixCell)
{
turnSteps = Options.StepsToNeedleWhiteCenter;
}
else if (cartridgeCell == CartridgeCell.FirstCell)
{
if (cellPosition == CellPosition.CellLeft)
{
turnSteps = Options.StepsToNeedleLeft1;
}
else if (cellPosition == CellPosition.CellRight)
{
turnSteps = Options.StepsToNeedleRight1;
}
else
{
turnSteps = Options.StepsToNeedleLeft1 +
(Options.StepsToNeedleRight1 - Options.StepsToNeedleLeft1) / 2;
}
}
else if (cartridgeCell == CartridgeCell.SecondCell)
{
if (cellPosition == CellPosition.CellLeft)
{
turnSteps = Options.StepsToNeedleLeft2;
}
else if (cellPosition == CellPosition.CellRight)
{
turnSteps = Options.StepsToNeedleRight2;
}
else
{
turnSteps = Options.StepsToNeedleLeft2 +
(Options.StepsToNeedleRight2 - Options.StepsToNeedleLeft2) / 2;
}
}
else if (cartridgeCell == CartridgeCell.ThirdCell)
{
if (cellPosition == CellPosition.CellLeft)
{
turnSteps = Options.StepsToNeedleLeft3;
}
else if (cellPosition == CellPosition.CellRight)
{
turnSteps = Options.StepsToNeedleRight3;
}
else
{
turnSteps = Options.StepsToNeedleLeft3 +
(Options.StepsToNeedleRight3 - Options.StepsToNeedleLeft3) / 2;
}
}
turnSteps += Options.StepsPerCell * cartridgePosition;
steppers = new Dictionary <int, int>()
{
{ Options.RotorStepper, turnSteps - Position }
};
commands.Add(new MoveCncCommand(steppers));
executor.WaitExecution(commands);
Position = turnSteps;
Logger.Debug($"[{nameof(RotorUnit)}] - Placing cell under needle finished.");
}
private void buttonMoveCell_Click(object sender, EventArgs e)
{
int cellNumber = (int)editCellNumber.Value;
int chargePosition = (int)editChargePosition.Value;
CartridgeCell cell = CartridgeCell.MixCell;
if (selectFirstCell.Checked)
{
cell = CartridgeCell.FirstCell;
}
else if (selectSecondCell.Checked)
{
cell = CartridgeCell.SecondCell;
}
else if (selectThirdCell.Checked)
{
cell = CartridgeCell.ThirdCell;
}
else if (selectResultCell.Checked)
{
cell = CartridgeCell.ResultCell;
}
if (selectChargePlace.Checked)
{
Analyzer.TaskExecutor.StartTask(
() =>
{
Analyzer.Rotor.Home();
Analyzer.Rotor.PlaceCellAtCharge(cellNumber, chargePosition);
});
}
else if (selectNeedleLeftPlace.Checked)
{
Analyzer.TaskExecutor.StartTask(
() =>
{
Analyzer.Rotor.Home();
Analyzer.Rotor.PlaceCellUnderNeedle(cellNumber, cell, RotorUnit.CellPosition.CellLeft);
});
}
else if (selectNeedleRightPlace.Checked)
{
Analyzer.TaskExecutor.StartTask(
() =>
{
Analyzer.Rotor.Home();
Analyzer.Rotor.PlaceCellUnderNeedle(cellNumber, cell, RotorUnit.CellPosition.CellRight);
});
}
else if (selectWashBufferPlace.Checked)
{
Analyzer.TaskExecutor.StartTask(
() =>
{
Analyzer.Rotor.Home();
Analyzer.Rotor.PlaceCellUnderWashBuffer(cellNumber);
});
}
else if (selectDischargePlace.Checked)
{
Analyzer.TaskExecutor.StartTask(
() =>
{
Analyzer.Rotor.Home();
Analyzer.Rotor.PlaceCellAtDischarge(cellNumber);
});
}
}
