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增加JOG运动 函数

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zhengxuan.zhang
2022-10-13 18:53:10 +08:00
parent d302749cdd
commit ec5f857abb
3 changed files with 185 additions and 59 deletions
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HSI_HexagonMI_EF3/HSI_Motion.h
+25 -7
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@@ -164,8 +164,8 @@ public:
* \param bHomed
* \return
*/
HSI_STATUS HomeMachineOld(bool bHomed);
HSI_STATUS HomeMachine(bool bHomed);
HSI_STATUS HomeMachineOld(bool bHomed);
HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false);
HSI_STATUS HomeFindIndex();
@@ -176,8 +176,8 @@ public:
* \param bHomed 是否回家标志位
* \return
*/
HSI_STATUS IsHomedOld(bool& bHomed);
HSI_STATUS IsHomed(bool& bHomed);
HSI_STATUS IsHomedOld(bool& bHomed);
HSI_STATUS GetSpeedXyz(int AxisNum, double& Speed);
HSI_STATUS SetSpeedXyz(double Speed);
@@ -193,10 +193,22 @@ public:
HSI_STATUS GetDeadBand(double& DeadbandX, double& DeadbandY, double& DeadbandZ, double& DeadbandR);
HSI_STATUS GetRefreshDeadBand(double& Deadband);
/**
* \brief
* \param AxisTypes
* \param Speed
* \return
*/
HSI_STATUS Jog(UINT AxisTypes, double Speed);
HSI_STATUS JogOld(UINT AxisTypes, double Speed);
HSI_STATUS JoyStick(UINT AxisTypes, long Speed);
/**
* \brief
* \return
*/
HSI_STATUS StopJog();
HSI_STATUS StopJogOld();
HSI_STATUS StopJogEx(UINT AxisTypes);
HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
@@ -209,8 +221,9 @@ public:
* \param Time
* \return
*/
HSI_STATUS GetPositionXyzOld(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
HSI_STATUS GetPositionXyz(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
HSI_STATUS GetPositionXyzOld(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
HSI_STATUS GetPositionXyzaProbe(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ,
double& PositionA);
HSI_STATUS GetEncoderXyz(long* lEncoderVal);
@@ -235,10 +248,10 @@ public:
* \param dFlyRadius
* \return
*/
HSI_STATUS SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
HSI_STATUS SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
HSI_STATUS SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA,
HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
@@ -254,7 +267,12 @@ public:
HSI_STATUS SetDIO(UINT IOChannel, UINT _Status);
HSI_STATUS GetAxisStatus(int* _Status);
HSI_STATUS GetAppPath(CString& Path);
/**
* \brief
* \return
*/
HSI_STATUS Shutdown() override;
HSI_STATUS ShutdownOld() override;
HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT& Types);
HSI_STATUS StartupEx(UINT AxisTypes, bool bHome);
@@ -453,7 +471,7 @@ public:
bool bCircleRun; //圆弧插补
int iCircleRunPnt[5]; //圆弧插补时的圆心位置
int jogAxisNum; //jog运动的轴号
int jogspeed;
int jogspeed;//jog 运动的速度
bool jogMoving;
bool jogDirFlag;
bool m_bEmergencyState;