/// <summary>
/// 计算旋转后位置
/// </summary>
/// <param name="usingPlatform">哪边</param>
/// <param name="X">相机中心位置</param>
/// <param name="Y"></param>
/// <param name="Sx">焊头位置</param>
/// <param name="Sy"></param>
/// <param name="Sr"></param>
/// <param name="Ang"></param>
/// <param name="Tx"></param>
/// <param name="Ty"></param>
public static void Transorm(int ID, float X, float Y, float Sx, float Sy, float Ang, out float Tx, out float Ty)
{
TeachingMechinePra mechinePra = new TeachingMechinePra();
PointF rotateCur = new PointF();
rotateCur.X = Sx;
rotateCur.Y = Sy; //装换前的角度和位置
PointF rotateC = new PointF(); //旋转中心
double r = 0;
mechinePra = ProjectData.Instance.SaveData.SolderPlatform[ID].teachingMechine;
r = Ang;
rotateC.X = X - mechinePra.RotatePstionCameraSize.X;
rotateC.Y = Y - mechinePra.RotatePstionCameraSize.Y;
double radius = mechinePra.Radius;//圆心半径
Circle circle = new Circle(rotateC, (float)radius);
PointF pos = circle.Rotate(rotateCur, r);
Tx = pos.X;
Ty = pos.Y;
}
public Frm_Machine(BoardCtrllerManager movedriverZm, TeachingMechinePra TeachingMechinePra, UsingPlatformSelect usingPlatform)
{
InitializeComponent();
this.movedriverZm = movedriverZm;
this.TeachingMechine = TeachingMechinePra;
if (usingPlatform == UsingPlatformSelect.Left)
{
this.xID = (int)AxisDef.AxX1;
this.yID = (int)AxisDef.AxY1;
this.zID = (int)AxisDef.AxZ1;
this.rID = (int)AxisDef.AxR1;
this.tID = (int)AxisDef.AxT1;
_id = 0;
SafeZ = FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZL;
}
else
{
this.xID = (int)AxisDef.AxX2;
this.yID = (int)AxisDef.AxY2;
this.zID = (int)AxisDef.AxZ2;
this.rID = (int)AxisDef.AxR2;
this.tID = (int)AxisDef.AxT2;
_id = 1;
SafeZ = FormMain.RunProcess.LogicData.slaverData.basics.Safe_ZR;
}
Binding();
}
public SolderPlatformPara()
{
machineSolder = new PointF2();
machineSoldercamera = new PointF2();
ResetPos = new PointF4();
EndPos = new PointF4();
teachingMechine = new TeachingMechinePra();
UseR = false;
PerTimesClean = 1;
}
