黄埔做网站要多少钱,wordpress 模板 中文,北京定制网络营销推广,徐州网络科技有限公司注#xff1a;由于电机不带编码器#xff0c;无法做home和当前位置信息读取#xff01; 功能#xff1a; 三个轴的点位运动#xff1a;前进后退#xff0c;并分别显示每个轴的移动脉冲数(可以换算为距离)#xff01; 开发环境#xff1a;VS2017 硬件设备#xff1a;固… 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.源码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 i0; i3;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();//}ListKeyValuePairstring, string settings new ListKeyValuePairstring, string();KeyValuePairstring, string kv new KeyValuePairstring, 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 KeyValuePairstring, 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 KeyValuePairstring, 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 KeyValuePairstring, 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(ListKeyValuePairstring, 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 { }}}
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