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1、运动到指定点，JOG运动，运动结束的判断

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2、优化测试用例
This commit is contained in:
zhengxuan.zhang
2022-10-19 20:20:52 +08:00
parent 3473b1d637
commit df5c6c7c3f
12 changed files with 958 additions and 745 deletions
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HSI_HexagonMI_EF3/HSI.h
+16 -31
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@@ -322,36 +322,21 @@ enum HSI_MOTION_TYPE
enum HSI_MOTION_AXIS_TYPE
{
HSI_MOTION_AXIS_X = 0x0001,
// This is the default "Sensor level" X Axis - use on single X axis machines
HSI_MOTION_AXIS_Y = 0x0002,
// This is the default "Sensor level" Y Axis - use on single Y axis machines
HSI_MOTION_AXIS_Z = 0x0004,
// This is the default "Sensor level" Z Axis - use on single Z axis machines
HSI_MOTION_AXIS_R = 0x0008,
// This is the default "Sensor level" R Axis - use on single R axis machines
HSI_MOTION_AXIS_X1 = 0x0010,
// This is the 1st X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y1 = 0x0020,
// This is the 1st Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z1 = 0x0040,
// This is the 1st Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_R1 = 0x0080,
// This is the 1st R Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_X2 = 0x0100,
// This is the 2nd X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y2 = 0x0200,
// This is the 2nd Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z2 = 0x0400,
// This is the 2nd Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_R2 = 0x0800,
// This is the 2nd R Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_X3 = 0x1000,
// This is the 3rd X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y3 = 0x2000,
// This is the 3rd Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z3 = 0x4000,
// This is the 3rd Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_X = 0x0001,// This is the default "Sensor level" X Axis - use on single X axis machines
HSI_MOTION_AXIS_Y = 0x0000,// This is the default "Sensor level" Y Axis - use on single Y axis machines
HSI_MOTION_AXIS_Z = 0x0004,// This is the default "Sensor level" Z Axis - use on single Z axis machines
HSI_MOTION_AXIS_R = 0x0008,// This is the default "Sensor level" R Axis - use on single R axis machines
HSI_MOTION_AXIS_X1 = 0x0010,// This is the 1st X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y1 = 0x0020,// This is the 1st Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z1 = 0x0040,// This is the 1st Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_R1 = 0x0080,// This is the 1st R Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_X2 = 0x0100,// This is the 2nd X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y2 = 0x0200,// This is the 2nd Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z2 = 0x0400,// This is the 2nd Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_R2 = 0x0800,// This is the 2nd R Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_X3 = 0x1000,// This is the 3rd X Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Y3 = 0x2000,// This is the 3rd Y Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_Z3 = 0x4000,// This is the 3rd Z Axis - use on multiple axis machines when specific axis needed
HSI_MOTION_AXIS_R3 = 0x8000 // This is the 3rd R Axis - use on multiple axis machines when specific axis needed
};
@@ -373,7 +358,7 @@ enum HSI_MOTION_IO_TYPE
};
//const UINT HSI_MOTION_AXIS_ALL = HSI_MOTION_AXIS_X | HSI_MOTION_AXIS_Y | HSI_MOTION_AXIS_Z;
const UINT HSI_MOTION_AXIS_ALL = ACSC_AXIS_X | ACSC_AXIS_Y | ACSC_AXIS_Z;
const UINT HSI_MOTION_AXIS_ALL = ACSC_AXIS_0 | ACSC_AXIS_1 | ACSC_AXIS_4;
enum HSI_MOTION_MOVE_TYPE
{
HSI_MOTION_MOVE_WAIT = 1,