private void ToClear()
{
for (int i = 0; i < 6; i++)
{
SinglePlatFormControl.P2P_runing_start(m_ControlData.mSinglePlatFormControl.thisplatform.g_handle, i, m_ControlData.mConfigXML.FU_Acc, m_ControlData.mConfigXML.FU_speed, m_ControlData.mConfigXML.FU_speed, 0);
}
WaitForTime tm = new WaitForTime(1.0f, /*ToReady*/ Showms);
}
private void CompleteFuWei()
{
for (int i = 0; i < 6; i++)
{
SinglePlatFormControl.P2P_runing_StopOne(m_ControlData.mSinglePlatFormControl.thisplatform.g_handle, i);
}
WaitForTime tm = new WaitForTime(1.0f, TCaculator);
}
private void TCaculator()
{
m_ControlData.mSinglePlatFormControl.thisplatform.CaculatorBili(m_ControlData.mConfigXML.P_XingC);
m_ControlData.mSinglePlatFormControl.thisplatform.SetOrigPosAll();
for (int i = 0; i < 6; i++)
{
SinglePlatFormControl.P2P_runing_start(m_ControlData.mSinglePlatFormControl.thisplatform.g_handle, i, m_ControlData.mConfigXML.FU_Acc, m_ControlData.mConfigXML.FU_speed, m_ControlData.mConfigXML.FU_speed, 0);
}
WaitForTime tm = new WaitForTime(1.0f, ToClear);
// m_ControlData.mSinglePlatFormControl.Set_Limitswitch(0);
}
private void Timer2_Tick(object sender, EventArgs e)
{
//throw new NotImplementedException();
LightDataPoint ldx = new LightDataPoint();
LightDataPoint ldy = new LightDataPoint();
LightDataPoint ldz = new LightDataPoint();
ldx.XValue = talsec;
ldy.XValue = talsec;
ldz.XValue = talsec;
//ld.YValue = Math.Sin(i * 0.1);
//_chart.Series[0].DataPoints.Add(ld);
if (BeginMove)
{
commandListBox.SelectedIndex = NowIndex;
RunTime.Text = "时间:" + Math.Round(talsec, 2) + "秒";
RunState.Text = "俯仰:" + rx + "\n偏航:" + ry + "\n滚转:" + rz;
RunType.Text = nowModel;
RunSpeed.Text = nowSpeed.ToString() + "度/秒";
/// @Todo: 增加保存rx，ry，rz，以绘制曲线
ldx.YValue = rx;
ldy.YValue = ry;
ldz.YValue = rz;
_chart.Series[0].DataPoints.Add(ldx);
_chart.Series[1].DataPoints.Add(ldy);
_chart.Series[2].DataPoints.Add(ldz);
}
else
{
rx = 0;
ry = 0;
rz = 0;
float[] abc = m_ControlData.mSixPlaneF.rounds(0, 0, 0);
float[] Le = m_ControlData.mSixPlaneF.Six_Platform_RoundF(0, 45, 0, abc[0], abc[1], abc[2]);
int[] Spos = m_ControlData.mSinglePlatFormControl.thisplatform.Conver_LengthTopluse2(Le);
for (int i = 0; i < 6; i++)
{
Spos[i] = Spos[i] + m_ControlData.mConfigXML.DeltalPos[i];
}
SinglePlatFormControl.SixSame_ManualStart(m_ControlData.mSinglePlatFormControl.thisplatform.g_handle, Spos, 10, 10 * 0.01f, 0);
RunTime.Text = "时间:" + Math.Round(talsec, 2) + "秒";
RunState.Text = "俯仰:" + rx + "\n偏航:" + ry + "\n滚转:" + rz;
RunType.Text = "N/A";
RunSpeed.Text = nowSpeed.ToString() + "度/秒";
EnabledBeginEnd(true);
timer2.Stop();
}
}
private void CalutorToMiddle(Action callback)
{
if (usemanual)
{
///计算中间位置每个缸的长度
///
float[] abc = m_ControlData.mSixPlaneF.rounds(0, 0, 0);
float[] Zitaidata = m_ControlData.mSixPlaneF.Six_Platform_RoundF(0, 45, 0, abc[0], abc[1], abc[2]);
///将缸的长度转换成脉冲
int[] Spos = m_ControlData.mSinglePlatFormControl.thisplatform.Conver_LengthTopluse2(Zitaidata);
//for (int i = 0; i < 6; i++)
//{
// Spos[i] = Spos[i] + m_ControlData.mConfigXML.DeltalPos[i];
//}
TargetPos = Spos;
for (int j = 0; j < 6; j++)
{
SinglePlatFormControl.P2P_runing_start(m_ControlData.mSinglePlatFormControl.thisplatform.g_handle, j, 1, m_ControlData.mConfigXML.FU_speed, m_ControlData.mConfigXML.FU_speed, Spos[j]);
}
}
else
{
///计算中间位置每个缸的长度
///
float[] abc = m_ControlData.mSixPlaneF.rounds(0, 0, 0);
float[] Zitaidata = m_ControlData.mSixPlaneF.Six_Platform_RoundF(0, 45, 0, abc[0], abc[1], abc[2]);
///将缸的长度转换成脉冲
int[] Spos = m_ControlData.mSinglePlatFormControl.thisplatform.Conver_LengthTopluse2(Zitaidata);
for (int i = 0; i < 6; i++)
{
Spos[i] = Spos[i] + m_ControlData.mConfigXML.DeltalPos[i];
}
TargetPos = Spos;
for (int j = 0; j < 6; j++)
{
SinglePlatFormControl.P2P_runing_start(m_ControlData.mSinglePlatFormControl.thisplatform.g_handle, j, 1, m_ControlData.mConfigXML.FU_speed, m_ControlData.mConfigXML.FU_speed, Spos[j]);
}
}
//回中后回调赋值给ReachAndCallBack
ReachAndCallBack = callback;
//将CheckToDoCallback检查回中是否完成放到mthread1线程
mDocheck = null;
mDocheck = CheckToDoCallback;
}
//public event Action WriteConfig = null;
private void OnCompleteL()
{
EnabledBeginEnd(true);
float[] abc = m_ControlData.mSixPlaneF.rounds(0, 0, 0);
float[] Le = m_ControlData.mSixPlaneF.Six_Platform_RoundF(0, 45, 0, abc[0], abc[1], abc[2]);
int[] Spos = m_ControlData.mSinglePlatFormControl.thisplatform.Conver_LengthTopluse2(Le);
for (int i = 0; i < 6; i++)
{
Spos[i] = Spos[i] + m_ControlData.mConfigXML.DeltalPos[i];
}
SinglePlatFormControl.SixSame_ManualStart(m_ControlData.mSinglePlatFormControl.thisplatform.g_handle, Spos, 10, 10 * 0.01f, 0);
//if (WriteConfig != null)
{
WriteConfig();
}
}
private void CaculatorTosend()
{
if (BeginMove)
{
TimeSpan tmpd = DateTime.Now - StartTime;
talsec = tmpd.TotalSeconds;
float starttime = Mlist[NowIndex].StartTime;
float edtime = Mlist[NowIndex].EndTime;
int model = Mlist[NowIndex].Model;
nowSpeed = Mlist[NowIndex].cury_K;
switch (model)
{
case 0:
rz = Mlist[NowIndex].GetAngle((float)talsec);
nowModel = "俯仰";
break;
case 1:
ry = Mlist[NowIndex].GetAngle((float)talsec);
nowModel = "偏航";
break;
case 2:
rx = Mlist[NowIndex].GetAngle((float)talsec);
nowModel = "滚转";
break;
case 3:
nowModel = "延迟";
break;
default:
nowModel = "N/A";
break;
}
if (m_ControlData.mSinglePlatFormControl.HaveCompeleteFuwei)
{
float[] abc = m_ControlData.mSixPlaneF.rounds(rx, ry, rz);
float[] Le = m_ControlData.mSixPlaneF.Six_Platform_RoundF(xx, yy, zz, abc[0], abc[1], abc[2]);
int[] Spos = m_ControlData.mSinglePlatFormControl.thisplatform.Conver_LengthTopluse2(Le);
for (int i = 0; i < 6; i++)
{
Spos[i] = Spos[i] + m_ControlData.mConfigXML.DeltalPos[i];
}
SinglePlatFormControl.SixSame_ManualStart(m_ControlData.mSinglePlatFormControl.thisplatform.g_handle, Spos, m_ControlData.mConfigXML.WorkSpeed, m_ControlData.mConfigXML.WorkSpeed * 0.01f, 0);
}
if (talsec > edtime)
{
if (NowIndex + 1 < Mlist.Count)
{
NowIndex++;
}
else
{
G_Over();
}
}
}
else
{
EnabledBeginEnd(true);
}
}