diff --git a/HSI_HexagonMI_EF3/HSI.h b/HSI_HexagonMI_EF3/HSI.h index f197f61..23c8fb9 100644 --- a/HSI_HexagonMI_EF3/HSI.h +++ b/HSI_HexagonMI_EF3/HSI.h @@ -324,6 +324,7 @@ enum HSI_MOTION_AXIS_TYPE // 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_XYZ = 0x0007, HSI_MOTION_AXIS_R = 0x0008, // This is the default "Sensor level" R Axis - use on single R axis machines HSI_MOTION_AXIS_X1 = 0x0010, diff --git a/HSI_HexagonMI_EF3/HSI_Motion.cpp b/HSI_HexagonMI_EF3/HSI_Motion.cpp index dea9ad6..0b2889f 100644 --- a/HSI_HexagonMI_EF3/HSI_Motion.cpp +++ b/HSI_HexagonMI_EF3/HSI_Motion.cpp @@ -254,7 +254,7 @@ HSI_Motion::HSI_Motion() 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 + 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++) { m_N_Work_Limit[i] = -40; //负限位 @@ -1927,8 +1927,8 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) int DecCurve(1); int JogSpeed(1); bool bJOGDir = Speed > 0 ? true : false; //运动方向 - byte AxisNumber = static_cast(AxisConvertIndex(AxisTypes)); //Jog - jogAxisNum = AxisNumber; + + jogDirFlag = bJOGDir; m_Thread_State = HSI_THREAD_PAUSED; @@ -1936,8 +1936,8 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) { //软限位 g_pLogger->SendAndFlushWithTime( - L"[Jog] Limit Enable, m_P_Work_Limit[AxisNumber] = %f,m_N_Work_Limit[AxisNumber] = %f\n", - m_P_Work_Limit[AxisNumber], m_N_Work_Limit[AxisNumber]); + L"[Jog] Limit Enable, Axis = %d, m_P_Work_Limit = %f,m_N_Work_Limit = %f\n", + AxisTypes,m_P_Work_Limit[AxisTypes], m_N_Work_Limit[AxisTypes]); } else { @@ -1946,9 +1946,9 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) } //是否回过家判断 - if (m_Home_Machine_Axis[AxisNumber] == 0) + if (m_Home_Machine_Axis[AxisTypes] == 0) { - g_pLogger->SendAndFlushWithTime(L"[Jog] Current Axis[%d] not homed \n", AxisNumber); + g_pLogger->SendAndFlushWithTime(L"[Jog] Current Axis[%d] not homed \n", AxisTypes); return rStatus; } @@ -1962,13 +1962,6 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) /*GetPositionXyz(1, now_pos[0], now_pos[1], now_pos[2], time);*/ //GetPositionEncPrfMulti(1, now_pos, Prf_pos, 1); - - JogSpeed = abs(SpeedPercent(AxisNumber, Speed, DriveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve)); - - 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) //{ // if (AxisTypes == AXIS_X /*&& m_motorType & 0x01*/) @@ -2073,52 +2066,37 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) //} //速度限制 - g_pLogger->SendAndFlushWithTime( - L"[Jog] DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", - DriveSpeed, AccCurve, AccLine, DecCurve, DecLine); + JogSpeed = abs(SpeedPercent(AxisTypes, Speed, DriveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve)); + g_pLogger->SendAndFlushWithTime( + L"[Jog] Speed: [%d], DriveSpeed: [%d],AccLine: [%d], DecLine: [%d] AccCurve: [%d], DecCurve: [%d],\n", + Speed, DriveSpeed, AccLine, DecLine,AccCurve, DecCurve ); + + //转到真实ACS平台轴号，并开始执行 + byte AxisNumber = static_cast(AxisConvertIndex(AxisTypes)); //Jog + double motionParam[5] = { DriveSpeed,AccLine*10 , DecLine*10, AccCurve,DecCurve }; //速度，加速度，减速度，Kill, jerk + SetSingleAxisParam(AxisNumber, motionParam); // 急停判断 if ((StartSpeed < 250) && (DriveSpeed < 6)) { m_IsUseJerk = 1; + g_pLogger->SendAndFlushWithTime(L"[Jog] Use Jerk\n"); } else { m_IsUseJerk = 0; + g_pLogger->SendAndFlushWithTime(L"[Jog] No Use Jerk\n"); } - //打印当前轴的速度 - double motionParam[5] = {0}; - GetMotorParam(jogAxisNum, motionParam); - g_pLogger->SendAndFlushWithTime( - L"[Jog] Axis= %d,Current Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n", - jogAxisNum, motionParam[0], motionParam[1], motionParam[2], motionParam[3], motionParam[4]); //开始JOG运动 if (!bJOGDir) { - DriveSpeed = DriveSpeed * (-1); // Negative direction : Using - (minus) velocity - } - //int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; //正方向，或 负方向 - - //设置加速度 - if (!acsc_SetAccelerationImm(handleACS, jogAxisNum, AccLine, nullptr)) - { - g_pLogger->SendAndFlushWithTime(L"[Jog] ACS SetAccelerationImm failed, Aixs:[%d] AccCurve:[%d]\n", - jogAxisNum, - AccLine); - ErrorsHandler(); + DriveSpeed = DriveSpeed * (-1); // Negative direction : Using - (minus) velocity //正方向，或 负方向 } - //设置减速度 - if (!acsc_SetDeceleration(handleACS, jogAxisNum, AccLine, nullptr)) - { - g_pLogger->SendAndFlushWithTime(L"[Jog] ACS SetDeceleration failed, Aixs:[%d] DecCurve:[%d]\n", jogAxisNum, - AccLine); - ErrorsHandler(); - } - if (!acsc_Jog(handleACS, 0, jogAxisNum, DriveSpeed, nullptr)) + if (!acsc_Jog(handleACS, 0, AxisNumber, DriveSpeed, nullptr)) { printf("[Jog] 轴[%d] [%s] 方向移动失败", AxisTypes, bJOGDir ? "正" : "负"); g_pLogger->SendAndFlushWithTime(L"[Jog] failed, Aixs:[%d] JOGDir:[%S]\n", AxisTypes, @@ -2128,7 +2106,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed) jogMoving = true; - g_pLogger->SendAndFlushWithTime(L"[Jog] Out, DriveSpeed = %d AccCurve:[%d] DecCurve:[%d]\n", DriveSpeed, + g_pLogger->SendAndFlushWithTime(L"[Jog] Out, AxisNumber = %d, DriveSpeed = %d AccCurve:[%d] DecCurve:[%d]\n", AxisNumber, DriveSpeed, AccLine, AccLine); } return rStatus; @@ -3573,6 +3551,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P if (CurrentMotionState != E_SO7_MOTION_MOVETO) //当前运动状态 { CurrentMotionState = E_SO7_MOTION_MOVETO; + //限位功能 LimitOver(HSI_MOTION_AXIS_X, PositionX); LimitOver(HSI_MOTION_AXIS_Y, PositionY); @@ -3589,26 +3568,25 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P m_PosThread[4] = m_PositionA; //打印当前位置，目标位置 - g_pLogger->SendAndFlushWithTime( - L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f, Resolution[1] = %.4f\n", - m_PosThread[1] * m_Resolution[1], m_PosThread[2] * m_Resolution[2], m_PosThread[3] * m_Resolution[3], - m_PosThread[4] * m_Resolution[4], m_Resolution[1]); - g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f\n", PositionX,PositionY, PositionZ); + //g_pLogger->SendAndFlushWithTime( + // L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f, Resolution[1] = %.4f\n", + // m_PosThread[1] * m_Resolution[1], m_PosThread[2] * m_Resolution[2], m_PosThread[3] * m_Resolution[3], + // m_PosThread[4] * m_Resolution[4], m_Resolution[1]); + g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] PositionX = %.4f, PositionY = %.4f, PositionZ = %.4f\n", PositionX,PositionY, PositionZ); + + + //设置运动参数 + + //SetSingleAxisMotionParams + + - //打印轴当前运动参数 - byte AxisNumber = static_cast(AxisConvertIndex(AxisTypes)); //轴号换算 - double motionParam[5] = {0}; - GetMotorParam(AxisNumber, motionParam); //获取单轴运动参数 - g_pLogger->SendAndFlushWithTime( - L"[SetPositionXyz] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n", - jogAxisNum, motionParam[0], motionParam[1], motionParam[2], motionParam[3], motionParam[4]); - //设置轴运动速度，TO-DO //开始运动到指定位置，多轴运动 int Axes[] = {ACSC_AXIS_1, ACSC_AXIS_0,ACSC_AXIS_8, -1}; //需要运动的轴 - double Points[] = {PositionY, PositionX, PositionZ}; //目标位置点 + double Points[] = {PositionX, PositionY, PositionZ}; //目标位置点 if (!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr)) //移动到绝对位置 { g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] ACS Multi Motion Error\n"); @@ -3688,49 +3666,98 @@ int HSI_Motion::CaculateStepMotorACC(int pos, int maxacc, int minacc) * \param motionParam * \return */ -HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5]) +HSI_STATUS HSI_Motion::GetSingleAxisParam(int AXIS, double motionParam[5]) { auto rStatus = HSI_STATUS_NORMAL; if (handleACS != ACSC_INVALID) { - g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] In\n"); + g_pLogger->SendAndFlushWithTime(L"[GetSingleAxisParam] In\n"); //依次是 速度 if (!acsc_GetVelocity(handleACS, AXIS, motionParam + 0, nullptr)) { - g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetVelocity error\n"); + g_pLogger->SendAndFlushWithTime(L"[GetSingleAxisParam] acsc_GetVelocity error\n"); rStatus = HSI_ACS_ERROR; ErrorsHandler(); } // 加速度 if (!acsc_GetAcceleration(handleACS, AXIS, motionParam + 1, nullptr)) { - g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetAcceleration error\n"); + g_pLogger->SendAndFlushWithTime(L"[GetSingleAxisParam] acsc_GetAcceleration error\n"); rStatus = HSI_ACS_ERROR; ErrorsHandler(); } //减速、 if (!acsc_GetDeceleration(handleACS, AXIS, motionParam + 2, nullptr)) { - g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetDeceleration error\n"); + g_pLogger->SendAndFlushWithTime(L"[GetSingleAxisParam] acsc_GetDeceleration error\n"); rStatus = HSI_ACS_ERROR; ErrorsHandler(); } // 杀死速度 if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam + 3, nullptr)) { - g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetKillDeceleration error\n"); + g_pLogger->SendAndFlushWithTime(L"[GetSingleAxisParam] acsc_GetKillDeceleration error\n"); rStatus = HSI_ACS_ERROR; ErrorsHandler(); } //抖动 if (!acsc_GetJerk(handleACS, AXIS, motionParam + 4, nullptr)) { - g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetJerk error\n"); + g_pLogger->SendAndFlushWithTime(L"[GetSingleAxisParam] acsc_GetJerk error\n"); rStatus = HSI_ACS_ERROR; ErrorsHandler(); } - g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] Out\n"); + g_pLogger->SendAndFlushWithTime(L"[GetSingleAxisParam] Out\n"); + } + + return rStatus; +} + +//=========================================================================== +HSI_STATUS HSI_Motion::SetSingleAxisParam(int AXIS, double motionParam[5]) +{ + auto rStatus = HSI_STATUS_NORMAL; + if (handleACS != ACSC_INVALID) + { + g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] In\n"); + + //依次是 速度 + if (!acsc_SetVelocity(handleACS, AXIS, motionParam[0], nullptr)) + { + g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetVelocity error\n"); + rStatus = HSI_ACS_ERROR; + ErrorsHandler(); + } + // 加速度 + if (!acsc_SetAcceleration(handleACS, AXIS, motionParam[1], nullptr)) + { + g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetAcceleration error\n"); + rStatus = HSI_ACS_ERROR; + ErrorsHandler(); + } + //减速度 + if (!acsc_SetDeceleration(handleACS, AXIS, motionParam[2], nullptr)) + { + g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetDeceleration error\n"); + rStatus = HSI_ACS_ERROR; + ErrorsHandler(); + } + //// 杀死速度 + //if (!acsc_SetKillDeceleration(handleACS, AXIS, motionParam[3], nullptr)) + //{ + // g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetKillDeceleration error\n"); + // rStatus = HSI_ACS_ERROR; + // ErrorsHandler(); + //} + ////抖动 + //if (!acsc_SetJerk(handleACS, AXIS, motionParam[4], nullptr)) + //{ + // g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] acsc_SetJerk error\n"); + // rStatus = HSI_ACS_ERROR; + // ErrorsHandler(); + //} + g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisParam] Out\n"); } return rStatus; @@ -4047,16 +4074,21 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile) csAppPath)); //超时时间(0.1ms) GetPrivateProfileString(L"RESOLUTION", L"SCALE_RESOLUTION_" + axisNum[i], L"0.0004", temp.GetBufferSetLength(50), 50, csAppPath); - m_Resolution[i] = (atof(T2A(temp))); + m_Resolution[i] = (atof(T2A(temp)));//分辨率 GetPrivateProfileString(L"LIMIT", L"NEG_WORKING_LIMIT_" + axisNum[i], L"-40", temp.GetBufferSetLength(50), 50, csAppPath); - m_N_Work_Limit[i] = (atof(T2A(temp))); + m_N_Work_Limit[i] = (atof(T2A(temp))); //各轴负限位 GetPrivateProfileString(L"LIMIT", L"POS_WORKING_LIMIT_" + axisNum[i], L"160", temp.GetBufferSetLength(50), 50, csAppPath); - m_P_Work_Limit[i] = (atof(T2A(temp))); + m_P_Work_Limit[i] = (atof(T2A(temp)));//各轴正限位 + + //打印正负限位 + g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_N_Work_Limit[%d]: %.2f, m_P_Work_Limit[%d]: %.2f\n", + i, m_N_Work_Limit[i], i, m_P_Work_Limit[i]); + m_Home_Time[i] = static_cast(GetPrivateProfileInt(L"HOME", L"HOME_TIME_" + axisNum[i], 1500, - csAppPath)); + csAppPath)); //回家超时时间(0.1ms) m_Home_AddJogGears[i] = GetPrivateProfileInt(L"HOME", L"HOME_ADD_JOGCHOICE_" + axisNum[i], 100, csAppPath); m_Home_DecJogGears[i] = GetPrivateProfileInt(L"HOME", L"HOME_DEC_JOGCHOICE_" + axisNum[i], 100, csAppPath); m_SetPotion_Count[i] = GetPrivateProfileInt(L"SET_POSITION_SPEED", L"SET_POSITION_COUNT_" + axisNum[i], 10, @@ -4090,7 +4122,7 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile) /*m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath);*/ //m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50);//速度转换为脉冲 m_JogDriveSpeed[j][i] = speed; //直接读取速度 - g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %.2f %ld\n", i, j, + g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %ld %ld\n", i, j, 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", @@ -7865,7 +7897,7 @@ double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos) // { switch (AxisNumber) { - case 1: // X 轴 + case HSI_MOTION_AXIS_X: // X 轴 { if (LimitPos >= m_P_Work_Limit[1]) { @@ -7877,7 +7909,7 @@ double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos) // } break; } - case 2: //Y 轴 + case HSI_MOTION_AXIS_Y: //Y 轴 { if (LimitPos >= m_P_Work_Limit[2]) { @@ -7889,7 +7921,7 @@ double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos) // } break; } - case 3: + case HSI_MOTION_AXIS_Z: { if (LimitPos >= m_P_Work_Limit[3]) { @@ -7901,7 +7933,7 @@ double HSI_Motion::LimitOver(UINT AxisTypes, double& LimitPos) // } break; } - case 4: //Z轴 + case HSI_MOTION_AXIS_R: { if (LimitPos >= m_P_Work_Limit[4]) { @@ -7956,6 +7988,34 @@ short HSI_Motion::AxisConvertIndex(UINT AxisTypes) return AxisNumber; } +//=========================================================================== +void HSI_Motion::SetSingleAxisMotionParams(UINT AxisTypes, double SetmotionParam[5]) //设置单轴运动参数 +{ + g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisMotionParams] In\n"); + double getMotionParam[5] = { 0 }; + + //轴号转换 + byte AxisNumber = static_cast(AxisConvertIndex(AxisTypes)); //SetSingleAxisMotionParams + + //打印轴当前运动参数 + GetSingleAxisParam(AxisNumber, getMotionParam); //获取单轴运动参数 + g_pLogger->SendAndFlushWithTime( + L"[before] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n", + jogAxisNum, getMotionParam[0], getMotionParam[1], getMotionParam[2], getMotionParam[3], getMotionParam[4]); + + //设置单轴参数 + SetSingleAxisParam(AxisTypes, SetmotionParam); + + //打印轴当前运动参数 + GetSingleAxisParam(AxisNumber, getMotionParam); //获取单轴运动参数 + g_pLogger->SendAndFlushWithTime( + L"[after] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n", + jogAxisNum, getMotionParam[0], getMotionParam[1], getMotionParam[2], getMotionParam[3], getMotionParam[4]); + + g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisMotionParams] Out\n"); + +} + //=========================================================================== short HSI_Motion::IndexConvertAxis(int Index) { diff --git a/HSI_HexagonMI_EF3/HSI_Motion.h b/HSI_HexagonMI_EF3/HSI_Motion.h index eaf0f01..a8de5f5 100644 --- a/HSI_HexagonMI_EF3/HSI_Motion.h +++ b/HSI_HexagonMI_EF3/HSI_Motion.h @@ -238,8 +238,8 @@ public: * \param motionParam * \return */ - HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5]); - + HSI_STATUS HSI_Motion::GetSingleAxisParam(int AXIS, double motionParam[5]); + HSI_STATUS HSI_Motion::SetSingleAxisParam(int AXIS, double motionParam[5]); /** * \brief 运行到指定位置 * \param AxisTypes 轴号 @@ -636,6 +636,7 @@ public: */ short AxisConvertIndex(UINT AxisTypes); short IndexConvertAxis(int Index); + void SetSingleAxisMotionParams(UINT AxisTypes, double motionParam[5]); double LimitOver(UINT AxisTypes, double& LimitPos); int P2P(short AxisNumber, long Pos, double Speed, double Acc); void DoEvents(); diff --git a/HSI_HexagonMI_EF3/version.h b/HSI_HexagonMI_EF3/version.h index 3183bc3..be5bb8c 100644 --- a/HSI_HexagonMI_EF3/version.h +++ b/HSI_HexagonMI_EF3/version.h @@ -12,5 +12,5 @@ #define HSI_VERSION_REVNUM #define HSI_VERSION_BUILD_DATE _T(__DATE__ ) #define HSI_VERSION_BUILD_TIME _T(__TIME__ ) -#define HSI_FILE_DESCRIPTION "2024.02.27 / 16:28 " -#define HSI_FILE_CSDESCRIPTION _T("2024.02.27 / 16:28 ") +#define HSI_FILE_DESCRIPTION "2024.02.28 / 11:38 " +#define HSI_FILE_CSDESCRIPTION _T("2024.02.28 / 11:38 ") diff --git a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll index e976bf5..854e87f 100644 Binary files a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll and b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll differ diff --git a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb index f2e708b..8a7c7c5 100644 Binary files a/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb and b/HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb differ diff --git a/HSI_SEVENOCEAN_EF1_CsTest/Program.cs b/HSI_SEVENOCEAN_EF1_CsTest/Program.cs index 211f1fb..5218225 100644 --- a/HSI_SEVENOCEAN_EF1_CsTest/Program.cs +++ b/HSI_SEVENOCEAN_EF1_CsTest/Program.cs @@ -75,9 +75,9 @@ namespace HSI_SEVENOCEAN_EF1_CsTest #endregion //6 鏄惁鍥炲 - var bHomed = true; - rStatus = Motion.IsHomed(ref bHomed); - Console.WriteLine("Motion.IsHomed:{0}", rStatus); + //var bHomed = true; + //rStatus = Motion.IsHomed(ref bHomed); + //Console.WriteLine("Motion.IsHomed:{0}", rStatus); var bexit = false; var SpeedGear = 0.3; var dPos = new double[3]; diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll index e976bf5..854e87f 100644 Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll differ diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe index cc4d063..f355f96 100644 Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe differ diff --git a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb index 8ede891..d319715 100644 Binary files a/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb and b/HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb differ