private void bCalDown_Click(object sender, EventArgs e)
{
if (!string.IsNullOrEmpty(this.cbDownVision.Text))
{
VisionResult rtn = DetectLabel?.Invoke(this.cbDownVision.Text, this.module.Module, this.selectNz3.SelectNz);
if (rtn.State == VisionResultState.OK)
{
var entiy = SystemEntiy.Instance[this.module.Module];
var curPt = SystemEntiy.Instance[this.module.Module].XYPos;
//PointF wroldPt = new PointF();
//SystemEntiy.Instance[this.module.Module].WroldPt(this.selectNz3.SelectNz,
// SystemEntiy.Instance[this.module.Module].MachineConfig[this.selectNz3.SelectNz].RotateCamPoint,
// rtn.Point, out wroldPt);
var wroldPt = SystemEntiy.Instance[this.module.Module].RotatePtDown(this.selectNz3.SelectNz, rtn.Point, -rtn.Angle);
entiy.XYGoPos(wroldPt);
entiy.RGoAngle(entiy.MachineAxis.R[(int)this.selectNz3.SelectNz].Pos - rtn.Angle, this.selectNz3.SelectNz);
}
}
}
private void bPasteTest_Click(object sender, EventArgs e)
{
if (this.cbDownVision.SelectedIndex < 0)
{
return;
}
var entiy = SystemEntiy.Instance[this.module.Module];
Nozzle nz = this.selectNz3.SelectNz;
// 记录要贴附的坐标
PointF pasteXY = entiy.XYPos;
double pasteAngle = (double)this.numPasteAngle.Value;
// Z轴到安全高度
entiy.ZGoSafeTillStop();
// 到拍照位
entiy.XYGoPosTillStop(entiy.MachineConfig[nz].RotateCamPoint);
// R角度到0
entiy.RGoAngleTillStop(0, nz);
Thread.Sleep(50);
// 拍照
VisionResult rtn = DetectLabel?.Invoke(this.cbDownVision.Text, this.module.Module, this.selectNz3.SelectNz);
if (rtn.State == VisionResultState.OK)
{
PointF result = entiy.RotatePtDown(nz, rtn.Point, -rtn.Angle + pasteAngle);
PointF offset = new PointF();
offset.X = result.X - entiy.MachineConfig[nz].DownMarkPt.X;
offset.Y = result.Y - entiy.MachineConfig[nz].DownMarkPt.Y;
PointF realPt = new PointF();
realPt.X = pasteXY.X + offset.X + entiy.MachineConfig[nz].NzToCam.X;
realPt.Y = pasteXY.Y + offset.Y + entiy.MachineConfig[nz].NzToCam.Y;
if (!this.cbCheck.Checked)
{
realPt = entiy.GetPasteOffset(nz, pasteXY, realPt);
}
else
{
this.upPt = pasteXY;
this.pastePt = realPt;
}
entiy.RGoAngle(-rtn.Angle + pasteAngle, nz);
entiy.XYGoPosTillStop(realPt);
entiy.ZGoPaste(nz);
Thread.Sleep(1000);
entiy.MachineIO.VaccumSuck[(int)nz].SetIO(false);
Thread.Sleep(100);
entiy.MachineIO.VaccumPO[(int)nz].SetIO(true);
Thread.Sleep(100);
entiy.MachineIO.VaccumPO[(int)nz].SetIO(false);
entiy.ZGoSafeTillStop();
entiy.XYGoPosTillStop(pasteXY);
}
else
{
MessageBox.Show("Label 侦测失败!!");
}
}