diff --git a/Motion/ACS Motion/MainForm.Designer.cs b/Motion/ACS Motion/MainForm.Designer.cs index a06220c..2c96597 100644 --- a/Motion/ACS Motion/MainForm.Designer.cs +++ b/Motion/ACS Motion/MainForm.Designer.cs @@ -180,6 +180,7 @@ this.btnSend = new System.Windows.Forms.Button(); this.button11 = new System.Windows.Forms.Button(); this.txtCommand = new System.Windows.Forms.TextBox(); + this.button18 = new System.Windows.Forms.Button(); this.groupBox5 = new System.Windows.Forms.GroupBox(); this.groupBox9 = new System.Windows.Forms.GroupBox(); this.label56 = new System.Windows.Forms.Label(); @@ -210,6 +211,7 @@ this.button2 = new System.Windows.Forms.Button(); this.button1 = new System.Windows.Forms.Button(); this.groupBox10 = new System.Windows.Forms.GroupBox(); + this.button19 = new System.Windows.Forms.Button(); this.label48 = new System.Windows.Forms.Label(); this.textBox4 = new System.Windows.Forms.TextBox(); this.button10 = new System.Windows.Forms.Button(); @@ -217,7 +219,7 @@ this.checkBox4 = new System.Windows.Forms.CheckBox(); this.checkBox3 = new System.Windows.Forms.CheckBox(); this.checkBox2 = new System.Windows.Forms.CheckBox(); - this.button18 = new System.Windows.Forms.Button(); + this.button20 = new System.Windows.Forms.Button(); this.groupBox1.SuspendLayout(); this.grpMotionTest.SuspendLayout(); this.grpMst.SuspendLayout(); @@ -1680,7 +1682,7 @@ // // groupBox4 // - this.groupBox4.Controls.Add(this.button18); + this.groupBox4.Controls.Add(this.button20); this.groupBox4.Controls.Add(this.button17); this.groupBox4.Controls.Add(this.button16); this.groupBox4.Controls.Add(this.button15); @@ -1704,13 +1706,13 @@ this.button17.Name = "button17"; this.button17.Size = new System.Drawing.Size(85, 30); this.button17.TabIndex = 14; - this.button17.Text = "MoveM"; + this.button17.Text = "ExtAddPointM"; this.button17.UseVisualStyleBackColor = true; this.button17.Click += new System.EventHandler(this.button17_Click); // // button16 // - this.button16.Location = new System.Drawing.Point(291, 218); + this.button16.Location = new System.Drawing.Point(387, 218); this.button16.Name = "button16"; this.button16.Size = new System.Drawing.Size(85, 30); this.button16.TabIndex = 13; @@ -1720,7 +1722,7 @@ // // button15 // - this.button15.Location = new System.Drawing.Point(196, 218); + this.button15.Location = new System.Drawing.Point(292, 218); this.button15.Name = "button15"; this.button15.Size = new System.Drawing.Size(85, 30); this.button15.TabIndex = 12; @@ -1730,7 +1732,7 @@ // // button14 // - this.button14.Location = new System.Drawing.Point(98, 218); + this.button14.Location = new System.Drawing.Point(194, 218); this.button14.Name = "button14"; this.button14.Size = new System.Drawing.Size(85, 30); this.button14.TabIndex = 11; @@ -1786,6 +1788,16 @@ this.txtCommand.TabIndex = 7; this.txtCommand.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.txtCommand_KeyPress); // + // button18 + // + this.button18.Location = new System.Drawing.Point(19, 101); + this.button18.Name = "button18"; + this.button18.Size = new System.Drawing.Size(85, 30); + this.button18.TabIndex = 15; + this.button18.Text = "开始记录"; + this.button18.UseVisualStyleBackColor = true; + this.button18.Click += new System.EventHandler(this.button18_Click); + // // groupBox5 // this.groupBox5.Controls.Add(this.groupBox9); @@ -2074,6 +2086,8 @@ // // groupBox10 // + this.groupBox10.Controls.Add(this.button19); + this.groupBox10.Controls.Add(this.button18); this.groupBox10.Controls.Add(this.label48); this.groupBox10.Controls.Add(this.textBox4); this.groupBox10.Controls.Add(this.button10); @@ -2088,6 +2102,16 @@ this.groupBox10.TabStop = false; this.groupBox10.Text = "XYZ循环"; // + // button19 + // + this.button19.Location = new System.Drawing.Point(129, 101); + this.button19.Name = "button19"; + this.button19.Size = new System.Drawing.Size(85, 30); + this.button19.TabIndex = 16; + this.button19.Text = "停止记录"; + this.button19.UseVisualStyleBackColor = true; + this.button19.Click += new System.EventHandler(this.button19_Click); + // // label48 // this.label48.AutoSize = true; @@ -2112,6 +2136,7 @@ this.button10.TabIndex = 4; this.button10.Text = "停止"; this.button10.UseVisualStyleBackColor = true; + this.button10.Click += new System.EventHandler(this.button10_Click); // // button9 // @@ -2153,15 +2178,15 @@ this.checkBox2.Text = "X"; this.checkBox2.UseVisualStyleBackColor = true; // - // button18 + // button20 // - this.button18.Location = new System.Drawing.Point(400, 215); - this.button18.Name = "button18"; - this.button18.Size = new System.Drawing.Size(85, 30); - this.button18.TabIndex = 15; - this.button18.Text = "记录"; - this.button18.UseVisualStyleBackColor = true; - this.button18.Click += new System.EventHandler(this.button18_Click); + this.button20.Location = new System.Drawing.Point(103, 220); + this.button20.Name = "button20"; + this.button20.Size = new System.Drawing.Size(85, 30); + this.button20.TabIndex = 15; + this.button20.Text = "MultiPointM2"; + this.button20.UseVisualStyleBackColor = true; + this.button20.Click += new System.EventHandler(this.button20_Click); // // MainForm // @@ -2408,6 +2433,8 @@ private System.Windows.Forms.Button button16; private System.Windows.Forms.Button button17; private System.Windows.Forms.Button button18; + private System.Windows.Forms.Button button19; + private System.Windows.Forms.Button button20; } } diff --git a/Motion/ACS Motion/MainForm.cs b/Motion/ACS Motion/MainForm.cs index f54e1a3..0678f33 100644 --- a/Motion/ACS Motion/MainForm.cs +++ b/Motion/ACS Motion/MainForm.cs @@ -61,7 +61,8 @@ namespace ACS_DotNET_Library_Advanced_Demo // 记录标志位 private bool record = false; - private int record_count = 0; //时间计数 + private bool record_last = false; //上一次的记录标志位 + public MainForm() { @@ -287,7 +288,7 @@ namespace ACS_DotNET_Library_Advanced_Demo } - + private bool record_action = false; private void tmrMonitor_Tick(object sender, EventArgs e) { // Get selected axis number @@ -393,35 +394,47 @@ namespace ACS_DotNET_Library_Advanced_Demo label55.Text = point.y.ToString("0.000"); label56.Text = point.z.ToString("0.000"); - - if (record) + if (record_action) { - record_count++; pointList.Add(point); + } - if (record_count > 200) - { - record_count = 0; - record = false; - - //保存数据 - SaveFileDialog saveFileDialog = new SaveFileDialog(); - saveFileDialog.Filter = "文本文件|*.txt"; - saveFileDialog.Title = "保存数据"; - saveFileDialog.ShowDialog(); - - if (saveFileDialog.FileName != "") - { - StreamWriter sw = new StreamWriter(saveFileDialog.FileName); - foreach (Point p in pointList) - { - sw.WriteLine(p.x.ToString("0.000") + " " + p.y.ToString("0.000") + " " + p.z.ToString("0.000")); - } - sw.Close(); - } - } + if (!record_last && record) //从未记录到记录 + { + lstLog.Items.Add("开始记录"); + record_action = true; } + + //从记录到未记录 + if (record_last && !record) + { + lstLog.Items.Add("停止记录"); + + record_action = false; + + + //定义文件保存位置 D:/11.txt + string path = "D:/11.txt"; + { + StreamWriter sw = new StreamWriter(path); + foreach (Point p in pointList) + { + sw.WriteLine(p.x.ToString("0.000") + " " + p.y.ToString("0.000") + " " + p.z.ToString("0.000")); + } + sw.Close(); + } + pointList.Clear();//清空数据 + lstLog.Items.Add("保存完成"); + + } + + + + + //更新记录标志位 + record_last = record; + } } @@ -970,15 +983,16 @@ namespace ACS_DotNET_Library_Advanced_Demo // Create multi-point motion of axis 0 and 1 with default // velocity without // dwell in the points - _ACS.MultiPointM(MotionFlags.ACSC_NONE, axes, 0); + //_ACS.MultiPointM(MotionFlags.ACSC_NONE, axes, 0); // Add some points for (int index = 0; index < 5; index++) { points[0] = 100 * index; points[1] = 100 * index; - _ACS.AddPointM(axes, points); + //_ACS.AddPointM(axes, points); + _ACS.ToPointM(MotionFlags.ACSC_AMF_VELOCITY,axes, points); //将点添加到 lstLog.Items lstLog.Items.Add("points[0]:" + points[0].ToString() + "points[1]:" + points[1].ToString()); @@ -1011,7 +1025,7 @@ namespace ACS_DotNET_Library_Advanced_Demo // Create the arbitrary path motion to axes 0 and 1 with // uniform interval 10 ms use a cubic interpolation // between the specified points - _ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC |MotionFlags.ACSC_AMF_WAIT, axes, 5000); + _ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC, axes, 1000); // Add some points // 定义三维点列表 @@ -1032,13 +1046,14 @@ namespace ACS_DotNET_Library_Advanced_Demo // 遍历列表并添加点 for (int index = 0; index < pointsArray.GetLength(0); index++) { - + + double[] speed = { 100,100,100}; points[0] = pointsArray[index, 0]; points[1] = pointsArray[index, 1]; points[2] = pointsArray[index, 2]; // 使用AddPVPointM方法添加点 - _ACS.AddPVPointM(axes, points, points); + _ACS.AddPVPointM(axes, points, speed); // 将点信息添加到lstLog.Items lstLog.Items.Add($"points[0]: {points[0]} points[1]: {points[1]} points[2]: {points[2]}"); @@ -1049,7 +1064,7 @@ namespace ACS_DotNET_Library_Advanced_Demo // End of the multi-point motion _ACS.EndSequenceM(axes); - _ACS.GoM(axes); + //_ACS.GoM(axes); record = true; @@ -1118,10 +1133,48 @@ namespace ACS_DotNET_Library_Advanced_Demo private void button18_Click(object sender, EventArgs e) { - lstLog.Items.Add("记录"); record = true; } + private void button19_Click(object sender, EventArgs e) + { + lstLog.Items.Add("停止记录"); + record = false; + } + + private void button10_Click(object sender, EventArgs e) + { + + } + + private void button20_Click(object sender, EventArgs e)//MultiPointM + { + lstLog.Items.Add("MultiPointM"); + int timeout = 5000; + Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_NONE }; + double[] points = { 0, 0 }; + _ACS.EnableM(axes); // Enable axes 0 and 1 + // Wait axis 0 enabled during 5 sec + _ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout); + // Wait axis 1 enabled during 5 sec + _ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout); + // Create multi-point motion with default velocity without + // dwell + _ACS.MultiPointM(MotionFlags.ACSC_AMF_VELOCITY, axes, 0); + + // Add some points + for (int index = 0; index < 5; index++) + { + // Position and velocity for each point + points[0] = 100 * index; + points[1] = 100 * index; + _ACS.ExtAddPointM(axes, points, 5000); + } + // Finish the motion + // End of the multi-point motion + _ACS.EndSequenceM(axes); + } + private void button15_Click(object sender, EventArgs e) //ExtLine { int timeout = 5000; @@ -1176,34 +1229,70 @@ namespace ACS_DotNET_Library_Advanced_Demo lstLog.Items.Add("BlendedLine "); int timeout = 5000; - Axis[] Axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8, Axis.ACSC_NONE }; - double[] Point = { 1000, 1000 }; - _ACS.BlendedSegmentMotionAsync(MotionFlags.ACSC_NONE, Axes, - Point,//Starting point of motion - 1000, // Segment time - 500, // Segment Acceleration time - 200, // Segment jerk time - 0);// Waiting call - + Axis[] Axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE }; _ACS.EnableM(Axes); // Enable axes 0 and 1 _ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout); _ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout); _ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout); + double[] Point = { 100, 100 }; + _ACS.BlendedSegmentMotion(MotionFlags.ACSC_NONE, Axes, + Point,//Starting point of motion + 1000, // Segment time + 500, // Segment Acceleration time + 200, // Segment jerk time + 0);// Waiting call + + + + + double[] FinalPoint = { 300, 300}; + _ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes,FinalPoint, 10000, 200, 300, 0); + + + + //增加第二个点（500,400） + double[] FinalPoint2 = { 500, 400 }; + _ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes, FinalPoint2, 10000, 200, 300, 0); + + //增加第三个点（600,100） + double[] FinalPoint3 = { 600, 100 }; + _ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes, FinalPoint3, 10000, 200, 300, 0); - double[] FinalPoint = { 100, 100,-50}; - _ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes, - FinalPoint, 1000, 200, 300, 0); _ACS.EndSequenceM(Axes); record =true; } - private void button17_Click(object sender, EventArgs e) //MoveM 方法 + private void button17_Click(object sender, EventArgs e) //ExtAddPointM 方法 { + lstLog.Items.Add("ExtAddPointM "); + int timeout = 5000; + Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_NONE }; + double[] points = { 0, 0 }; + _ACS.EnableM(axes); // Enable axes 0 and 1 + // Wait axis 0 enabled during 5 sec + _ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout); + // Wait axis 1 enabled during 5 sec + _ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout); + // Create multi-point motion with default velocity without + // dwell + _ACS.MultiPointM(MotionFlags.ACSC_AMF_VELOCITY, axes, 0); + // Add some points + for (int index = 0; index < 5; index++) + { + // Position and velocity for each point + points[0] = 100 * index; + points[1] = 100 * index; + _ACS.ExtAddPointM(axes, points, 5000); + } + // Finish the motion + // End of the multi-point motion + _ACS.EndSequenceM(axes); + record = true; } private void button1_Click(object sender, EventArgs e) diff --git a/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe b/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe index dd0fcfb..94c7283 100644 Binary files a/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe and b/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.exe differ diff --git a/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb b/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb index 62e6d11..1bbae93 100644 Binary files a/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb and b/Motion/ACS Motion/bin/x64/Debug/ACS_Motion.pdb differ