注：由于电机不带编码器，无法做home和当前位置信息读取！
功能：
三个轴的点位运动：前进 后退，并分别显示每个轴的移动脉冲数(可以换算为距离)！
开发环境：VS2017
硬件设备：固高科技三维移动平台
在上一版上添加了如下功能：
- 记录每次运行的距离，即使关闭软件，也能记录当前距离原点的距离(原点首次得在机台选定)
- 运行超出机台的最大距离后停止运动.
using System;
using System.Windows.Forms;
using gts;
using System.Xml;
using System.Collections.Generic;
namespace 三维平移台控制系统
{
public partial class mainFrom : DevComponents.DotNetBar.OfficeForm
{
public mainFrom()
{
this.EnableGlass = false;
InitializeComponent();
}
short Rtn;
int vel = 0;
int[] pos= {0,0,0 };
int[] pos1 = { 0, 0, 0 };
bool flag = false;
uint clk;
double prfpos, prfvel, encpos, encvel;
short AXIS = 1;
int X = 0;
int Y = 0;
int Z = 0;
private void buttonX1_Click(object sender, EventArgs e)
{
mc.GT_ZeroPos(AXIS, 1);
//for (int i=0; i<3;i )
//{
// pos1[i] = pos[i];
//}
pos1[AXIS - 1] = pos[AXIS - 1];
pos[AXIS-1] = 0;
}
private void buttonX2_Click(object sender, EventArgs e)
{
//Rtn = mc.GT_Close();
Rtn = mc.GT_PrfTrap(AXIS);
mc.TTrapPrm trapprm;
mc.GT_GetTrapPrm(AXIS, out trapprm);
trapprm.acc = 0.1;//设置加速度
trapprm.dec = 0.1;//设置减速度
trapprm.smoothTime = 1;
mc.GT_SetTrapPrm(AXIS, ref trapprm);
pos[AXIS-1] = Convert.ToInt32(textBoxX1.Text)*500;
vel = Convert.ToInt32(textBoxX2.Text)*2;
mc.GT_SetPos(AXIS, pos[AXIS-1]);
mc.GT_SetVel(AXIS, vel);
// mc.GT_Update(AXIS);
mc.GT_Update(1 << (AXIS - 1));
//MessageBox.Show((1 << (AXIS - 1)).ToString());
}
private void buttonX3_Click(object sender, EventArgs e)
{
//Rtn = mc.GT_Close();
Rtn = mc.GT_PrfTrap(AXIS);
mc.TTrapPrm trapprm;
mc.GT_GetTrapPrm(AXIS, out trapprm);
trapprm.acc = 0.1;
trapprm.dec = 0.1;
trapprm.smoothTime = 1;
mc.GT_SetTrapPrm(AXIS, ref trapprm);
pos[AXIS-1] -= Convert.ToInt32(textBoxX1.Text)*500;
vel = Convert.ToInt32(textBoxX2.Text)*2;
mc.GT_SetPos(AXIS, pos[AXIS-1]);
mc.GT_SetVel(AXIS, vel);
//mc.GT_Update(AXIS);
mc.GT_Update(1 << (AXIS - 1));
}
private void timer1_Tick(object sender, EventArgs e)
{
//if ()
//{
// mc.GT_GetPrfPos(AXIS, out prfpos, 1, out clk);// profile 起始轴号
// mc.GT_GetEncPos(AXIS, out encpos, 1, out clk);// encoder 起始轴号
// textBox3.Text = prfpos.ToString();
// textBox5.Text = encpos.ToString();
// mc.GT_GetPrfVel(AXIS, out prfvel, 1, out clk);// 起始规划轴号
// mc.GT_GetEncVel(AXIS, out encvel, 1, out clk);// encoder 起始轴号
// textBox4.Text = prfvel.ToString();
// textBox6.Text = encvel.ToString();
//}
List<KeyValuePair<string, string>> settings = new List<KeyValuePair<string, string>>();
KeyValuePair<string, string> kv = new KeyValuePair<string, string>("", "");
mc.GT_GetPrfPos(AXIS, out prfpos, 1, out clk);// profile 起始轴号
mc.GT_GetPrfVel(AXIS, out prfvel, 1, out clk);// 起始规划轴号
if (AXIS == 1)
{
labelX4.Text = "规划位置 : " (prfpos / 500).ToString() " mm";
labelX5.Text = "规划速度 : " (prfvel / 2).ToString() " mm/s";
kv = new KeyValuePair<string, string>("X", ((prfpos pos1[0]) / 500 X).ToString());
settings.Add(kv);
labelX10.Text = "距离原点 : " ((prfpos pos1[0])/500 X).ToString() " mm";
if ((prfpos pos1[0]) / 500 X > 850)
mc.GT_Stop(AXIS, 0);
}
else if (AXIS == 2)
{
labelX6.Text = "规划位置 : " (prfpos / 500).ToString() " mm";
labelX7.Text = "规划速度 : " (prfvel / 2).ToString() " mm/s";
kv = new KeyValuePair<string, string>("Y", ((prfpos pos1[1]) / 500 Y).ToString());
settings.Add(kv);
labelX11.Text = "距离原点 : " ((prfpos pos1[1]) / 500 Y).ToString() " mm";
if ((prfpos pos1[1]) / 500 Y > 500)
mc.GT_Stop(AXIS, 0);
}
else if (AXIS == 3)
{
labelX8.Text = "规划位置 : " (prfpos / 500).ToString() " mm";
labelX9.Text = "规划速度 : " (prfvel / 2).ToString() " mm/s";
kv = new KeyValuePair<string, string>("Z", ((prfpos pos1[2]) / 500 Z).ToString());
settings.Add(kv);
labelX12.Text = "距离原点 : " ((prfpos pos1[2]) / 500 Z).ToString() " mm";
if ((prfpos pos1[2]) / 500 Z > 500)
mc.GT_Stop(AXIS, 0);
}
SaveSettings(settings);
}
private void ReadConfigXML()
{
XmlDocument xmlDoc = new XmlDocument();
xmlDoc.Load(AppDomain.CurrentDomain.BaseDirectory "\config.xml");
XmlNode settingNode = xmlDoc.DocumentElement;
XmlElement e = settingNode.SelectSingleNode("X") as XmlElement;
if (e == null)
{
X = 0;
}
else
{
int val = 0;
if (!int.TryParse(e.InnerText, out val))
{
X = 0;
}
else
{
X = val;
}
}
e = settingNode.SelectSingleNode("Y") as XmlElement;
if (e == null)
{
Y = 0;
}
else
{
int val = 0;
if (!int.TryParse(e.InnerText, out val))
{
Y = 0;
}
else
{
Y = val;
}
}
e = settingNode.SelectSingleNode("Z") as XmlElement;
if (e == null)
{
Z = 0;
}
else
{
int val = 0;
if (!int.TryParse(e.InnerText, out val))
{
Z = 0;
}
else
{
Z = val;
}
}
}
private void mainFrom_Load(object sender, EventArgs e)
{
comboBoxEx1.SelectedIndex = 0;
textBoxX1.Text = "4";
textBoxX2.Text = "5";
labelX4.Text = "规划位置 : " (0).ToString() " mm";
labelX5.Text = "规划速度 : " (0).ToString() " mm/s";
labelX6.Text = "规划位置 : " (0).ToString() " mm";
labelX7.Text = "规划速度 : " (0).ToString() " mm/s";
labelX8.Text = "规划位置 : " (0).ToString() " mm";
labelX9.Text = "规划速度 : " (0).ToString() " mm/s";
/*初始化*/
Rtn = mc.GT_Open(0, 1);
Rtn = mc.GT_Reset();
Rtn = mc.GT_LoadConfig("GTS800.cfg"); ;
Rtn = mc.GT_ClrSts(1, 8); //axis 起始轴号，count
ReadConfigXML();
labelX10.Text = "距离原点 : " (X).ToString() " mm";
labelX11.Text = "距离原点 : " (Y).ToString() " mm";
labelX12.Text = "距离原点 : " (Z).ToString() " mm";
labelX13.Text = "最大距离 : " (850).ToString() " mm";
labelX14.Text = "最大距离 : " (500).ToString() " mm";
labelX15.Text = "最大距离 : " (500).ToString() " mm";
timer1.Enabled = true;
}
private void buttonX4_Click(object sender, EventArgs e)
{
mc.GT_Stop(AXIS, 0);
}
private void comboBoxEx1_SelectedIndexChanged(object sender, EventArgs e)
{
switch (comboBoxEx1.SelectedItem.ToString())
{
case "X轴":
AXIS = 1; break;
case "Y轴":
AXIS = 2; break;
case "Z轴":
AXIS = 3; break;
default:break;
}
}
public static void SaveSettings(List<KeyValuePair<string, string>> settings)
{
try
{
string docPath = AppDomain.CurrentDomain.BaseDirectory "\config.xml";
XmlDocument xmlDoc = new XmlDocument();
xmlDoc.Load(docPath);
XmlNode settingNode = xmlDoc.DocumentElement;
if (settingNode == null)
return;
foreach (var kv in settings)
{
SetNodeValue(xmlDoc, settingNode, kv.Key, kv.Value);
}
xmlDoc.Save(docPath);
}
catch { }
}
private static void SetNodeValue(XmlDocument XmlDoc, XmlNode rootnode, string key, string value)
{
try
{
XmlElement e = rootnode.SelectSingleNode(key) as XmlElement;
if (e == null)
{
XmlNode node = XmlDoc.CreateNode(XmlNodeType.Element, key, "");
node.InnerText = value;
rootnode.AppendChild(node);
}
else
{
e.InnerText = value;
}
}
catch { }
}
}
}
