/// <summary>
/// R轴运行速度 乘以比例
/// </summary>
/// <param name="velMode"></param>
/// <returns></returns>
private Variable.VelMode ConvertReal2Pulse(Variable.VelMode velMode)
{
Variable.VelMode a = new Variable.VelMode();
a.LowVel = velMode.LowVel * (this.r_ratio) * (this.low_ratio);
a.HighVel = velMode.HighVel * (this.r_ratio) * (this.high_ratio);
a.Acc = velMode.Acc * (this.r_ratio) * (this.acc_ratio);
a.Dec = velMode.Dec * (this.r_ratio) * (this.dec_ratio);
return(a);
}
/// <summary>
/// 设置轴速度
/// </summary>
/// <param name="velmode">速度模式</param>
/// <returns></returns>
public short AxisSetValue(Variable.VelMode velmode) // 設定速度,加速度範圍
{
short rtn = (short)Motion.mAcm_SetProperty(ipAxisHandle[AxisNo - 1], (uint)PropertyID.PAR_AxVelLow, ref velmode.LowVel, (uint)Marshal.SizeOf(typeof(double)));
rtn += (short)Motion.mAcm_SetProperty(ipAxisHandle[AxisNo - 1], (uint)PropertyID.PAR_AxVelHigh, ref velmode.HighVel, (uint)Marshal.SizeOf(typeof(double)));
rtn += (short)Motion.mAcm_SetProperty(ipAxisHandle[AxisNo - 1], (uint)PropertyID.PAR_AxAcc, ref velmode.Acc, (uint)Marshal.SizeOf(typeof(double)));
rtn += (short)Motion.mAcm_SetProperty(ipAxisHandle[AxisNo - 1], (uint)PropertyID.PAR_AxDec, ref velmode.Dec, (uint)Marshal.SizeOf(typeof(double)));
return(rtn);
}
/// <summary>
/// 轴Jog运动
/// </summary>
/// <param name="LowVel">最低速度</param>
/// <param name="HighVel">最高速度</param>
/// <param name="acc">加速度</param>
/// <param name="dec">减速度</param>
/// <param name="isDirPositive">正负方向</param>
/// <returns></returns>
public short AxisMoveJog(Variable.VelMode velmode, bool isDirPositive)
{
short rtn = AxisSetValue(velmode);
if (isDirPositive)
{
rtn += (short)Motion.mAcm_AxMoveVel(ipAxisHandle[AxisNo - 1], 0);
}
else
{
rtn += (short)Motion.mAcm_AxMoveVel(ipAxisHandle[AxisNo - 1], 1);
}
return(rtn);
}
private void CalPasueHeight(Z_RunParam zParam, ref PointF cur, ref Variable.VelMode vel)
{
zParam.MoveTrim(zParam.MoveDir * 0.5, vel);
Thread.Sleep(500);
if (!zParam.Check_vaccum.GetIO())
{
this.CalPasueHeight(zParam, ref cur, ref vel);
}
else
{
return;
}
}
private void bAutoSet_Click(object sender, EventArgs e)
{
if (MessageBox.Show("是否以当前位置为贴附点进行，贴附高度确认！！", "Tips", MessageBoxButtons.YesNo) == DialogResult.Yes)
{
PointF cur = new PointF();
cur.X = (float)Form_Main.Instance.X.Pos;
cur.Y = (float)Form_Main.Instance.Y.Pos;
Variable.VelMode vel = new Variable.VelMode(0, 100, 300, 300);
for (uint nz = 0; nz < Variable.NOZZLE_NUM; ++nz)
{
Form_Main.Instance.XYGoPosTillStop(30000, Form_Main.Instance.NozzleToCamPoint(cur, (int)nz), vel);
Z_RunParam zparam = Form_Main.Instance.Z_RunParamMap[nz];
zparam.XI_vaccum.SetIO();
this.CalPasueHeight(zparam, ref cur, ref vel);
Thread.Sleep(500);
var ctl = (TextBox)(this.Controls.Find($"tZ{nz + 1}", true)[0]);
ctl.Text = zparam.Pos.ToString("f3");
zparam.GoSafePos(vel);
Thread.Sleep(2000);
zparam.XI_vaccum.ResetIO();
}
}
}
/// <summary>
/// R轴运动到一个位置直到停止
/// </summary>
/// <param name="Timeout_Millsecond"></param>
/// <param name="deg"></param>
/// <param name="velMode"></param>
/// <returns></returns>
public short RGoPosTillStop(double Timeout_Millsecond, double deg, Variable.VelMode velMode)
{
Stopwatch a = new Stopwatch();
double mm = deg * (this.r_ratio);
short rtn = 0;
Variable.VelMode newVel = this.ConvertReal2Pulse(velMode);
rAxis.AxisMoveTrap_Abs(mm, newVel.LowVel, newVel.HighVel, newVel.Acc, newVel.Dec);
a.Start();
while (Math.Abs(deg - this.RPos) > 0.02)
{
rtn += rAxis.GetAxisSts();
if (a.ElapsedMilliseconds > Timeout_Millsecond)
{
rAxis.StopAxis();
rtn = 1;
break;
}
Thread.Sleep(100);
}
return(rtn);
}
public virtual short ChangePos(double mm, Variable.VelMode velMode)
{
VelMode newVel = this.ConvertReal2Pulse(velMode);
return(this.AxisChangePos(mm, velMode));
}
/// <summary>
/// R 到指定角度 附带初始值
/// </summary>
/// <param name="angle"></param>
/// <param name="velMode"></param>
/// <returns></returns>
public short RGoPosWithInit(double angle, Variable.VelMode velMode)
{
//angle = this.DegreeNormal(angle);
Variable.VelMode newVel = this.ConvertReal2Pulse(velMode);
return(rAxis.AxisMoveTrap_Abs(angle * (this.r_ratio), newVel.LowVel, newVel.HighVel, newVel.Acc, newVel.Dec));
}
/// <summary>
/// 移动到初始位置
/// </summary>
/// <param name="velMode"></param>
/// <returns></returns>
public short RGoInitPos(Variable.VelMode velMode)
{
return(this.RGoPos(this.init_pos, velMode));
}
/// <summary>
/// R轴回原点
/// </summary>
/// <param name="homemode"></param>
/// <param name="velMode"></param>
/// <param name="IsDirP"></param>
/// <returns></returns>
public short RGoHome(Axis.HomeMode homemode, Variable.VelMode velMode, bool IsDirP)
{
Variable.VelMode newVel = this.ConvertReal2Pulse(velMode);
return(rAxis.AxisGoHome(homemode, IsDirP, newVel.LowVel, newVel.HighVel, newVel.Acc, newVel.Dec));
}
/// <summary>
/// R轴 JOG 运动
/// </summary>
/// <param name="velMode"></param>
/// <param name="Dir_Pos"></param>
/// <returns></returns>
public short RJog(Variable.VelMode velMode, bool Dir_Pos)
{
Variable.VelMode newVel = this.ConvertReal2Pulse(velMode);
return(rAxis.AxisMoveJog(newVel.LowVel, newVel.HighVel, newVel.Acc, newVel.Dec, Dir_Pos));
}
/// <summary>
/// 获得一个位置的CPK数据
/// </summary>
/// <param name="point">位置</param>
/// <param name="cpkIni">配置信息</param>
/// <param name="variable">速度</param>
/// <param name="result">CPK 数据</param>
/// <returns></returns>
public static bool GetCPK(IniFile cpkIni, Variable.VelMode variable, double gain, double offset, int cycle, ref CPK_ResultItem result)
{
if (result == null)
{
return(false);
}
// 移动到目标位
Form_Main.Instance.XYGoPosTillStop(20 * 1000, result.Pos, variable);
Thread.Sleep(100);
// 获得上相机图像
VisionImage image = Form_Main.Instance.GrabImage2View(Camera.CAM.Top);
if (image == null)
{
return(false);
}
for (int i = 0; i < cycle; ++i)
{
image = Form_Main.Instance.GainOffset(image, gain, offset);
}
// 初定位 寻找模板
try
{
// NI 视觉检测方法
List <PointContour> crossList = new List <PointContour>();
List <LineContour> lineList = new List <LineContour>();
for (int i = 0; i < 4; ++i) // 找4个角
{
PointContour cross = new PointContour();
LineContour line1 = new LineContour(); // 水平线
LineContour line2 = new LineContour(); // 垂直线
bool rtn = false;
for (int retry = 0; retry < 3; retry++)
{
rtn = FindCorss(i, cpkIni, ref cross, ref line1, ref line2);
if (rtn)
{
break;
}
}
if (!rtn)
{
return(false);
}
//crossList.Add(cross);
lineList.Add(line1);
lineList.Add(line2);
PointContour center1 = new PointContour((line1.Start.X + line1.End.X) / 2.0, (line1.Start.Y + line1.End.Y) / 2.0);
PointContour center2 = new PointContour((line2.Start.X + line2.End.X) / 2.0, (line2.Start.Y + line2.End.Y) / 2.0);
crossList.Add(center1);
crossList.Add(center2);
}
if (lineList.Count != 8)
{
return(false);
}
LineContour orgHLine = lineList[0]; // 基准水平线
LineContour orgVLine = lineList[1]; // 基准垂直线
//PointContour top = crossList[1]; // 顶点
//PointContour leftBottom = crossList[2]; // 左下角
//PointContour rightTop = crossList[3]; // 右上角
PointContour topV = crossList[3];
PointContour topH = crossList[2];
PointContour leftBottom = crossList[5];
PointContour rightTop = crossList[6];
PointContour cross1 = Algorithms.FindIntersectionPoint(orgVLine, new LineContour(topV, new PointContour(topV.X + 10, topV.Y)));
PointContour cross2 = Algorithms.FindIntersectionPoint(orgHLine, new LineContour(topH, new PointContour(topH.X, topH.Y + 10)));
PointContour cross3 = Algorithms.FindIntersectionPoint(orgVLine, new LineContour(leftBottom, new PointContour(leftBottom.X + 10, leftBottom.Y)));
PointContour cross4 = Algorithms.FindIntersectionPoint(orgHLine, new LineContour(rightTop, new PointContour(rightTop.X, rightTop.Y + 10)));
PointF xy = new PointF();
xy.X = (float)Form_Main.Instance.X.Pos;
xy.Y = (float)Form_Main.Instance.Y.Pos;
PointF tv = Form_Main.Instance.Point2CCDCenter(xy, topV, CAM.Top, 0);
PointF th = Form_Main.Instance.Point2CCDCenter(xy, topH, CAM.Top, 0);
PointF l = Form_Main.Instance.Point2CCDCenter(xy, leftBottom, CAM.Top, 0);
PointF r = Form_Main.Instance.Point2CCDCenter(xy, rightTop, CAM.Top, 0);
PointF c1 = Form_Main.Instance.Point2CCDCenter(xy, cross1, CAM.Top, 0);
PointF c2 = Form_Main.Instance.Point2CCDCenter(xy, cross2, CAM.Top, 0);
PointF c3 = Form_Main.Instance.Point2CCDCenter(xy, cross3, CAM.Top, 0);
PointF c4 = Form_Main.Instance.Point2CCDCenter(xy, cross4, CAM.Top, 0);
result.X1 = Math.Abs(tv.X - c1.X);
result.Y1 = Math.Abs(th.Y - c2.Y);
result.X2 = Math.Abs(l.X - c3.X);
result.Y2 = Math.Abs(r.Y - c4.Y);
Form_Main.Instance.imageSet.Image.Overlays.Default.AddLine(new LineContour(cross1, topV));
Form_Main.Instance.imageSet.Image.Overlays.Default.AddLine(new LineContour(cross2, topH));
Form_Main.Instance.imageSet.Image.Overlays.Default.AddLine(new LineContour(cross3, leftBottom));
Form_Main.Instance.imageSet.Image.Overlays.Default.AddLine(new LineContour(cross4, rightTop));
Form_Main.Instance.imageSet.Image.Overlays.Default.AddText("X1: " + result.X1.ToString(), topV, Rgb32Value.BlueColor, new OverlayTextOptions("Consolas", 24));
Form_Main.Instance.imageSet.Image.Overlays.Default.AddText("Y1: " + result.Y1.ToString(), topH, Rgb32Value.BlueColor, new OverlayTextOptions("Consolas", 24));
Form_Main.Instance.imageSet.Image.Overlays.Default.AddText("X2: " + result.X2.ToString(), leftBottom, Rgb32Value.BlueColor, new OverlayTextOptions("Consolas", 24));
Form_Main.Instance.imageSet.Image.Overlays.Default.AddText("Y2: " + result.Y2.ToString(), rightTop, Rgb32Value.BlueColor, new OverlayTextOptions("Consolas", 24));
}
catch { }
return(false);
}
private void bAutoCal_Click(object sender, EventArgs e)
{
this.bAutoCal.Enabled = false;
Count = 0;
double last = 0;
double value = 0;
Variable.VelMode vel = new Variable.VelMode(0, 100, 300, 300);
AutoTimer.Start();
int JumpCount = 0;
double MoveTirm = 1;
double MaxValue = 0;
double MaxZ = 0;
bool first = true;
if (this.cb_SelectNz.SelectedIndex >= 0)
{
Form_Main.Instance.imageSet.Image.WriteBmpFile("D://1.bmp");
int Dir = 1; // 正向寻找
Thread.Sleep(100);
Application.DoEvents();
VisionHelper.GetImageDefinitionValue("D://1.bmp", out last);
Form_Main.Instance.Z_RunParamMap[(uint)this.cb_SelectNz.SelectedIndex].MoveTrim(Dir * MoveTirm, vel);
MaxValue = last;
MaxZ = Form_Main.Instance.Z_RunParamMap[(uint)this.cb_SelectNz.SelectedIndex].Pos;
while (Count < 120)
{
Thread.Sleep(100);
Application.DoEvents();
Form_Main.Instance.imageSet.Image.WriteBmpFile("D://1.bmp");
Thread.Sleep(100);
Application.DoEvents();
VisionHelper.GetImageDefinitionValue("D://1.bmp", out value);
if (value > MaxValue)
{
MaxValue = value;
MaxZ = Form_Main.Instance.Z_RunParamMap[(uint)this.cb_SelectNz.SelectedIndex].Pos;
}
if (value > last)
{
Form_Main.Instance.Z_RunParamMap[(uint)this.cb_SelectNz.SelectedIndex].MoveTrim(Dir * MoveTirm, vel);
Thread.Sleep(100);
}
else
{
Dir = -1 * Dir;
if (!first)
{
JumpCount++;
if (JumpCount > 3)
{
JumpCount = 0;
MoveTirm = MoveTirm / 2;
if (MoveTirm < 0.1)
{
// Find OK
break;
}
}
}
first = false;
}
last = value;
this.tAppend.AppendText($"清晰度：{value} \n");
}
Thread.Sleep(100);
Form_Main.Instance.Z_RunParamMap[(uint)this.cb_SelectNz.SelectedIndex].StopAxis();
Form_Main.Instance.Z_RunParamMap[(uint)this.cb_SelectNz.SelectedIndex].CleSts();
Form_Main.Instance.Z_RunParamMap[(uint)this.cb_SelectNz.SelectedIndex].GoPos(MaxZ, vel);
}
AutoTimer.Stop();
this.bAutoCal.Enabled = true;
}
