public Plane(Material material, Transform parent, Vector3 size, PlaneParams _planeParams)
{
this.planeParams = _planeParams;
CreateBase(material, parent, size);
}
public override void DoCalib()
{
OutputStandardHeight = StandardHeight;
Log("上平台GT高度标定\n----------------------------------------------------------");
{
//GT标定高度
OutputGTCalibPos = Platform1GTCalibPos;
DataList.Add(OutputGTCalibPos.ToString());
//标准平面标定
if (Platform1GTPlaneCalibPos != null)
{
//update z
if (Platform1 != null && GtController != null)
{
bool isFirst = true;
foreach (var calibPos in Platform1GTPlaneCalibPos)
{
//product to up platform
var pos = new PosXYZ(calibPos.Data())
{
Z = Platform1GTCalibPos.Z
};
if (isFirst)
{
isFirst = false;
Platform1?.EnterAuto(this).Jump(Platform1.GetPos("P->UP", pos.Data()), 0);
}
else
{
Platform1?.EnterAuto(this).Jump(Platform1.GetPos("P->UP", pos.Data()), JumpHeight1);
}
Thread.Sleep(1000);
calibPos.Z = GtController.ReadData()[0];
DataList.Add(calibPos.ToString());
}
}
var fitplane = PlaneParams.FitPlane(Platform1GTPlaneCalibPos);
OutputUpStandardPlane = new PlaneParams()
{
Normal = fitplane.Normal, Origin = fitplane.Origin
};
DataList.Add(OutputUpStandardPlane.ToString());
}
}
//复位上平台
Platform1?.EnterAuto(this).Jump("Wait", JumpHeight1);
Log("上平台GT高度标定 完成\n----------------------------------------------------------");
//下GT高度标定
//复位下平台Z轴
if (Platform2 != null)
{
Platform2.EnterAuto(this).Home(2);
Platform2.EnterAuto(this).MoveAbs(2, "Wait", checkLimit: false);
}
Log("下平台GT1高度标定\n----------------------------------------------------------");
{
do_gt2_cy?.SetDo(this, true, ignoreOrWaringOrError: null);
{
//GT1GT2 高度差标定
OutputGT1CalibPos = Platform2GT1CalibPos;
//update z
if (Platform2 != null && GtController != null)
{
Platform2.EnterAuto(this).Jump(Platform2GT1CalibPos, 0);
Thread.Sleep(1000);
OutputGT1CalibPos.OffsetZ = GtController.ReadData()[1];
}
//GT1GT2 高度差标定
OutputGT2CalibPos = Platform2GT2CalibPos;
//update z
if (Platform2 != null && GtController != null)
{
Platform2.EnterAuto(this).Jump(Platform2GT2CalibPos, JumpHeight2);
Thread.Sleep(1000);
OutputGT2CalibPos.OffsetZ = GtController.ReadData()[2];
}
//GT1标准平面标定
if (Platform2GT1PlaneCalibPos != null)
{
//update z
if (Platform2 != null && GtController != null)
{
foreach (var calibPos in Platform2GT1PlaneCalibPos)
{
//product to up platform
var pos = new PosXYZ(calibPos.Data())
{
Z = Platform2GT1CalibPos.Z
};
Platform2.EnterAuto(this).Jump(Platform2.GetPos("P->DOWN1", pos.Data()), JumpHeight2);
Thread.Sleep(1000);
calibPos.Z = GtController.ReadData()[1];
DataList.Add(calibPos.ToString());
}
}
var fitplane = PlaneParams.FitPlane(Platform2GT1PlaneCalibPos);
OutputDownStandardPlane = new PlaneParams()
{
Normal = fitplane.Normal, Origin = fitplane.Origin
};
DataList.Add(OutputDownStandardPlane.ToString());
}
//GT2标准平面标定
if (Platform2GT2PlaneCalibPos != null)
{
//update z
if (Platform2 != null && GtController != null)
{
foreach (var calibPos in Platform2GT2PlaneCalibPos)
{
//product to up platform
var pos = new PosXYZ(calibPos.Data())
{
Z = Platform2GT2CalibPos.Z
};
Platform2.EnterAuto(this).Jump(Platform2.GetPos("P->DOWN2", pos.Data()), JumpHeight2);
Thread.Sleep(1000);
calibPos.Z = GtController.ReadData()[2];
DataList.Add(calibPos.ToString());
}
}
var fitplane = PlaneParams.FitPlane(Platform2GT2PlaneCalibPos);
OutputDownStandardPlane2 = new PlaneParams()
{
Normal = fitplane.Normal, Origin = fitplane.Origin
};
DataList.Add(OutputDownStandardPlane2.ToString());
}
}
do_gt2_cy?.SetDo(this, false, ignoreOrWaringOrError: null);
}
{
//复位下平台
//move platform2 wait
if (Platform2 != null)
{
Platform2.EnterAuto(this).Home(2);
Platform2.EnterAuto(this).MoveAbs("Wait", checkLimit: false);
}
Log("下平台GT1/2高度标定 完成\n----------------------------------------------------------");
}
//output
DataList.Add(OutputGT1CalibPos.ToString());
DataList.Add(OutputGT2CalibPos.ToString());
DataList.Add(OutputStandardHeight.ToString());
DataList.Add(OutputUpStandardPlane.ToString());
DataList.Add(OutputDownStandardPlane.ToString());
}
