xhouse/EF3-Interface
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

正在调试 档位速度

Browse Source
This commit is contained in:
zhengxuan.zhang
2022-11-02 15:14:09 +08:00
parent b7fef58da8
commit 7920c49743
4 changed files with 88 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
HSI_HexagonMI_EF3/HSI_Motion.cpp
+58 -34
View File
@@ -63,17 +63,6 @@ HANDLE HSI_Motion::m_ThreadTCP_Id = nullptr;
int HSI_Motion::m_ThreadTCP_State = TCPIP_THREAD_PAUSED;
SOCKET m_socket[4] = {0};
//===========================================================================
//运动类构造函数，涉及 运动控制参数、插补、回家、摇杆、日志等配置信息的加载
void ErrorsHandler(const char* ErrorMessage, BOOL fCloseComm)
{
printf(ErrorMessage);
printf("press any key to exit.\n");
if (fCloseComm) acsc_CloseComm(handleACS);
_getch();
};
void ErrorsHandler()
{
@@ -100,8 +89,8 @@ void ErrorsHandler()
g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Communication handle is invalid\n");
}
};
//===========================================================================
//运动类构造函数，涉及 运动控制参数、插补、回家、摇杆、日志等配置信息的加载
HSI_Motion::HSI_Motion()
{
TRACE0("HSI_Motion Constructor!\n");
@@ -242,8 +231,8 @@ HSI_Motion::HSI_Motion()
{
for (int j = 0; j < 5; j++)
{
m_JogDriveSpeed[j][i] = 10; //表示5个档位 轴号,从1开始；5：档位
m_JogStartSpeed[j][i] = 10;
m_JogDriveSpeed[j][i] = 20; //表示5个档位 轴号,从1开始；5：档位
m_JogStartSpeed[j][i] = 20;
m_JogAccLine[j][i] = 5;
m_JogAccCurve[j][i] = 0;
m_JogDecLine[j][i] = 5;
@@ -252,6 +241,7 @@ HSI_Motion::HSI_Motion()
m_Home_Machine_Axis[i] = 1; //用于启动时需要回原点的轴号选择,赋值1表示该轴需要回家
m_Home_Pos_Axis[i] = 0; //记住关闭电源时的位置，用于判断是否还需要回原点
}
m_Home_Machine_Axis[4] = 0; //用于启动时需要回原点的轴号选择
for (int i = 0; i < 5; i++)
{
@@ -1047,6 +1037,7 @@ HSI_STATUS HSI_Motion::HomeMachineOld(bool bHomed)
HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
{
auto rStatus = HSI_STATUS_NORMAL;
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] In\n");
if (!bHomed)
{
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] bHomed No Need Reture\n");
@@ -1056,9 +1047,9 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
{
return HSI_STATUS_NORMAL;
}
if (g_pHSI_Motion)
if (g_pHSI_Motion &&(handleACS != ACSC_INVALID))
{
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] In\n");
//判断是否需要回家
bool home(false);
IsHomed(home);
@@ -1095,15 +1086,32 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
return HSI_STATUS_FAILED;
}
//再次读取回家标志位，或者上个动作完成回调
IsHomed(home);
if (home == true)
{
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n");
}
//等待运动结束 ，方式1
/* acsc_WaitMotionEnd(handleACS, ACSC_AXIS_1, INFINITE);
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] X homed\n");
acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE);
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Y homed\n");
acsc_WaitMotionEnd(handleACS, ACSC_AXIS_4, INFINITE);
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Z homed\n");*/
//等待运动结束 ，方式2
do
{
//再次读取回家标志位，或者上个动作完成回调
IsHomed(home);
Sleep(200);
} while (!home);
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n");
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Out\n");
}
else
{
g_pLogger->SendAndFlushWithTime(L"[HomeMachine] faild, g_pHSI_Motion or handleACS not invaild! \n");
}
return rStatus;
}
@@ -1473,12 +1481,12 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
rStatus = HSI_STATUS_FAILED;
bHomed = false;
}
g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read YAW_HOME_DONE X:[%d] Y1:[%d] Y2:[%d] Z:[%d]\n", isHomed[0],
isHomed[1], isHomed[2], isHomed[3]);
g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read YAW_HOME_DONE X:[%d] Y:[%d] Z:[%d]\n", isHomed[0],
isHomed[1], isHomed[2]);
//如果各个轴标志位 已经回过家
if (isHomed[0] == 1 && isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1)
if (isHomed[0] == 2 && isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1)
{
g_pLogger->SendAndFlushWithTime(L"[IsHomed] E_GTS_HOME_FINISHED\n");
CurrentHomeMachineState = E_EF3_HOME_FINISHED;
@@ -1846,7 +1854,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed)
HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
{
auto rStatus = HSI_STATUS_NORMAL;
g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d] SpeedGear: [%lf]\n", AxisTypes, Speed);
g_pLogger->SendAndFlushWithTime(L"[Jog] Aixs: [%d] SpeedGear: [%lf]\n", AxisTypes, Speed);
if (g_pHSI_Motion)
{
if (m_DeviceType != 3) //非转盘设备
@@ -1899,7 +1907,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
JogSpeed = abs(SpeedPercent(AxisNumber, Speed, DriveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve));
g_pLogger->SendAndFlushWithTime(L"[Jog] StartSpeed: [%d], DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", StartSpeed, DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
g_pLogger->SendAndFlushWithTime(L"[Jog] Speed: [%d], DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", Speed, DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
if (m_DeviceType != 3)
{
@@ -2518,6 +2526,14 @@ int HSI_Motion::P2P(short AxisNumber, long Pos, double Speed, double Acc)
//===========================================================================
//运动控制部分
//===========================================================================
/**
* \brief 对比现在编码器位置和期望位置, position给上层用的, HSI内部用的是EncPrf
* \param AxisTypes
* \param EncPos
* \param PrfPos
* \param Count
* \return
*/
HSI_STATUS HSI_Motion::GetPositionEncPrfMultiOld(UINT AxisTypes, double* EncPos, double* PrfPos, int Count)
{
auto rStatus = HSI_STATUS_NORMAL;
@@ -3530,6 +3546,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
m_Thread_State = HSI_THREAD_RUNNING;
SetEvent(m_hTriggerEvent);
}
if (eType == HSI_MOTION_MOVE_WAIT) //等待模式
{
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Wait Mode\n");
@@ -3905,13 +3922,15 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile)
GetPrivateProfileString(L"JOG_SPEED", L"JOG_DRIVESPEED_" + strGear[i] + axisNum[j], L"10",
temp.GetBufferSetLength(50), 10, csAppPath);
float speed = (atof(T2A(temp)));
//m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath);
m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50);
m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath);
//m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50);
g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %lf %d\n", j, i, speed,m_JogDriveSpeed[j][i]);//打印配置文件 档位速度
GetPrivateProfileString(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], L"10",
temp.GetBufferSetLength(50), 10, csAppPath);
speed = (atof(T2A(temp)));
//m_JogStartSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], 10, csAppPath);
m_JogStartSpeed[j][i] = speed / (m_Resolution[j] * 50);
m_JogStartSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], 10, csAppPath);
//m_JogStartSpeed[j][i] = speed / (m_Resolution[j] * 50);
m_JogAccLine[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_LINE_" + strGear[i] + axisNum[j], 10,
csAppPath);
m_JogDecLine[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_LINE_" + strGear[i] + axisNum[j], 10,
@@ -6828,7 +6847,7 @@ HSI_STATUS HSI_Motion::GetPntsDistance(double& pDistance, int& spTimeCount)
//===========================================================================
/**
* \brief 运动控制参数读取及设置
* \brief 界面挡位获取速度
* \param AxisNum
* \param Speed
* \param DirveSpeed
@@ -6856,6 +6875,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
DecLine = m_JogDecLine[AxisNum][0];
AccCurve = m_JogAccCurve[AxisNum][0];
DecCurve = m_JogDecCurve[AxisNum][0];
g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.81 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
}
else if (fabs(Speed) > 0.61)
{
@@ -6865,6 +6885,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
DecLine = m_JogDecLine[AxisNum][1];
AccCurve = m_JogAccCurve[AxisNum][1];
DecCurve = m_JogDecCurve[AxisNum][1];
g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.61 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
}
else if (fabs(Speed) > 0.41)
{
@@ -6874,6 +6895,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
DecLine = m_JogDecLine[AxisNum][2];
AccCurve = m_JogAccCurve[AxisNum][2];
DecCurve = m_JogDecCurve[AxisNum][2];
g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.41 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
}
else if (fabs(Speed) > 0.21)
{
@@ -6883,6 +6905,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
DecLine = m_JogDecLine[AxisNum][3];
AccCurve = m_JogAccCurve[AxisNum][3];
DecCurve = m_JogDecCurve[AxisNum][3];
g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.21 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
}
else if (fabs(Speed) > 0.01)
{
@@ -6892,6 +6915,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
DecLine = m_JogDecLine[AxisNum][4];
AccCurve = m_JogAccCurve[AxisNum][4];
DecCurve = m_JogDecCurve[AxisNum][4];
g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.01 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
}
else
{