Article directory
1. The function realization of the sports platform
1. Position calculation
-
Physical usable distance (40000), retrieving position: 19945P, packing position: -19360P
-
Pixel position: Picking position: 20px Packing position: 1020px
-
Convert pulse to bit distance
-
Stepper Drive Set Subdivision 8
-
Stepper motor step angle 1.8°
-
Lead: 8mm
Calculate the number of pulses required for the stepping motor to walk 1cm
360 / 1.8 = 200 pulses for one revolution
200 * 8 = 1600 pulses make one revolution (subdivision)
1600 / 8 = 200 (required for the stepper motor to walk 1mm)
Therefore: 200 * 10 = 2000 pulses are needed to walk 1cm
The actual distance of the material level: 19945 / 2000 = 9.9725cm
The actual distance of the packing position: 19360 / 2000 = 9.68cm
-
-
Calculate the moving distance of the physical car and the moving distance of the image car
y = kx + b
y is the position of the car in the software, x is the actual physical position
Pixel available distance: 1000px
Physical usable distance: 9.9725+9.68 = 19.6525
k = 1000/ 19.6525 = 50.88411143620405
B = 1020 - 50.88411143620405 * 9.68 = 527.4418012975448
Two, the code
The specific packaging code is in the previous article, and the complete code of the actual function is as follows:
<Window x:Class="Zhaoxi.Motion.CorePlat.MainWindow"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:local="clr-namespace:Zhaoxi.Motion.CorePlat"
mc:Ignorable="d"
Title="MainWindow" WindowStyle="None" ResizeMode="CanResizeWithGrip" AllowsTransparency="True"
WindowStartupLocation="CenterScreen"
Height="650" Width="1200" Loaded="Window_Loaded" MouseLeftButtonDown="Window_MouseLeftButtonDown">
<Window.Resources>
<Style x:Key="FontStyle" TargetType="Label">
<Setter Property="FontFamily" Value="Microsoft YA Hei" />
<Setter Property="FontSize" Value="20" />
<Setter Property ="Foreground" Value ="#E2E6E9" />
</Style>
<Style TargetType ="Hyperlink">
<!-- 清除文字修饰(去掉下划线) -->
<Setter Property ="TextBlock.TextDecorations" Value ="{x:Null}" />
<Style.Triggers>
<Trigger Property ="IsMouseOver" Value ="True">
<!-- 在鼠标悬停时显示下划线 -->
<Setter Property ="TextBlock.TextDecorations">
<Setter.Value >
<TextDecorationCollection>
<TextDecoration Location ="Underline" />
</TextDecorationCollection>
</Setter.Value>
</Setter>
</Trigger>
</Style.Triggers>
</Style>
<Style TargetType="DataGrid">
<Setter Property="RowHeaderWidth" Value="0"></Setter>
<Setter Property="AutoGenerateColumns" Value="False"></Setter>
<Setter Property="CanUserAddRows" Value="False"></Setter>
<Setter Property="CanUserResizeColumns" Value="False"></Setter>
<Setter Property="CanUserResizeRows" Value="False"></Setter>
<Setter Property="HorizontalGridLinesBrush" Value="#496D87"></Setter>
<Setter Property="VerticalGridLinesBrush" Value="#496D87"></Setter>
<Setter Property="IsReadOnly" Value="True"></Setter>
<Setter Property="BorderThickness" Value="0"></Setter>
<Setter Property="BorderBrush" Value="#496D87"></Setter>
<Setter Property="RowHeight" Value="30"></Setter>
<Setter Property="VerticalScrollBarVisibility" Value="Auto"></Setter>
<Setter Property="Background" Value="Transparent"></Setter>
<Setter Property="GridLinesVisibility" Value="None" />
</Style>
<!--DataGrid表头样式-->
<Style TargetType="DataGridColumnHeader">
<Setter Property="Foreground" Value="#6F899D" />
<Setter Property="FontSize" Value="14"></Setter>
<Setter Property="Background" Value="Transparent"></Setter>
<Setter Property="BorderThickness" Value="0 0 0 1"></Setter>
<Setter Property="BorderBrush" Value="#496D87"></Setter>
<Setter Property="HorizontalContentAlignment" Value="Center"></Setter>
<Setter Property="Height" Value="30" />
</Style>
<Style x:Key="DataRowStyle" TargetType="{x:Type DataGridRow}">
<Setter Property="Background" Value="Transparent"/>
<Setter Property="Foreground" Value="White"/>
<Setter Property="BorderThickness" Value="0" />
</Style>
<Style x:Key="DataCellStyle" TargetType="{x:Type DataGridCell}">
<Setter Property="HorizontalAlignment" Value="Center"/>
<Setter Property="VerticalAlignment" Value="Center"/>
<Setter Property="BorderThickness" Value="0"></Setter>
</Style>
<Style TargetType="Button">
<Setter Property="Width" Value="80" />
<Setter Property="Height" Value="32" />
<Setter Property="Background" Value="#AAAAAA" />
<Setter Property="Foreground" Value="#DADADA" />
<Setter Property="Template">
<Setter.Value>
<ControlTemplate TargetType="{x:Type Button}">
<Border x:Name="Border" CornerRadius="5" Background="{TemplateBinding Background}" TextBlock.Foreground="{TemplateBinding Foreground}">
<!--设置控件的边框，圆角，背景色，字体颜色-->
<ContentPresenter Margin="{TemplateBinding Padding}" HorizontalAlignment="Center" VerticalAlignment="Center">
<!--显示控件的内容-->
</ContentPresenter>
</Border>
<ControlTemplate.Triggers>
<Trigger Property="IsMouseOver" Value="True">
<Setter Property="Background" Value="#faa755"/>
<Setter Property="Foreground" Value="#FADCB2"/>
</Trigger>
<Trigger Property="IsPressed" Value="True">
<Setter Property="Background" Value="#F29701"/>
<Setter Property="Foreground" Value="#FADCB2"/>
</Trigger>
</ControlTemplate.Triggers>
</ControlTemplate>
</Setter.Value>
</Setter>
</Style>
</Window.Resources>
<Grid>
<Grid.Background>
<LinearGradientBrush StartPoint="1, 0" EndPoint="0 , 1">
<GradientStop Color="#365B74" Offset="0.2" />
<GradientStop Color="#4A6E87" Offset="1"/>
</LinearGradientBrush>
</Grid.Background>
<Grid.RowDefinitions>
<RowDefinition Height="0.5*" />
<RowDefinition Height="2.5*" />
<RowDefinition Height="0.4*"/>
<RowDefinition Height="2*"/>
<RowDefinition Height="0.3*"/>
</Grid.RowDefinitions>
<Grid Grid.Row="0">
<Border BorderBrush="#74848F" BorderThickness="0 0 0 2" Margin="30 0 30 0" />
<Image Width="60" Height="45" Margin="30 0 20 0" HorizontalAlignment="Left" Source="pack://application:,,,/Zhaoxi.Motion.CorePlat;component/Assets/Images/logo.png" />
<Label Margin="100 0 0 0" HorizontalAlignment="Left" Style="{StaticResource FontStyle}" Content="朝夕运动控制平台" Foreground="#E2E6E9" VerticalAlignment="Center" />
<TextBlock HorizontalAlignment="Right" FontSize="16" Margin="0 0 30 0" VerticalAlignment="Center">
<Hyperlink Foreground="#FFEAE5E3" Click="Hyperlink_Click">[退出]</Hyperlink>
</TextBlock>
</Grid>
<Grid Grid.Row="1" Margin="50 10 50 10">
<Grid.ColumnDefinitions>
<ColumnDefinition Width="1*" />
<ColumnDefinition Width="2*"/>
<ColumnDefinition Width="1*" />
</Grid.ColumnDefinitions>
<Border Margin="5" BorderBrush="#569BAC" CornerRadius="5" BorderThickness="1" Grid.Column="0">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="40" />
<RowDefinition />
<RowDefinition />
<RowDefinition />
</Grid.RowDefinitions>
<StackPanel Grid.Row="0" Orientation="Horizontal">
<Line X1="8" Y1="8" X2="8" Y2="30" Stroke="#00F6FB" StrokeThickness="4" />
<TextBlock Margin="20 0 0 0" Text="实时状态" FontSize="20" Foreground="#9FB1BF" HorizontalAlignment="Center" VerticalAlignment="Center" />
</StackPanel>
<StackPanel Grid.Row="1">
<TextBlock Text="当前位置" Margin="30 0" FontSize="14" Foreground="#718A9F" />
<WrapPanel Margin="90 0 0 0">
<TextBlock Text="{Binding RealLocation}" FontSize="30" Foreground="#C1CCD5" />
<TextBlock Margin="20 5 0 0" Text="cm" VerticalAlignment="Center" FontSize="18" Foreground="#9DAFBC" />
</WrapPanel>
</StackPanel>
<StackPanel Grid.Row="2">
<TextBlock Text="当前速度" Margin="30 0" FontSize="14" Foreground="#718A9F" />
<WrapPanel Margin="90 0 0 0">
<TextBlock Text="{Binding RealSpeed}" FontSize="30" Foreground="#C1CCD5" />
<TextBlock Margin="20 5 0 0" Text="cm/s" VerticalAlignment="Center" FontSize="18" Foreground="#9DAFBC" />
</WrapPanel>
</StackPanel>
<StackPanel Grid.Row="3">
<TextBlock Text="运动状态" Margin="30 0" FontFamily="Microsoft Ya Hei" FontSize="14" Foreground="#718A9F" />
<WrapPanel Margin="90 0 0 0">
<TextBlock Text="{Binding RunState}" FontSize="30" Foreground="#4DCBA8" />
</WrapPanel>
</StackPanel>
</Grid>
</Border>
<Border Margin="5" BorderBrush="#569BAC" CornerRadius="5" BorderThickness="1" Grid.Column="1">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="40" />
<RowDefinition />
</Grid.RowDefinitions>
<StackPanel Grid.Row="0" Orientation="Horizontal">
<Line X1="8" Y1="8" X2="8" Y2="30" Stroke="#00F6FB" StrokeThickness="4" />
<TextBlock Margin="20 0 0 0" Text="实时信息提示" FontSize="20" Foreground="#9FB1BF" HorizontalAlignment="Center" VerticalAlignment="Center" />
</StackPanel>
<DataGrid Margin="1" ItemsSource="{Binding Loggers}" Grid.Row="1" CellStyle="{StaticResource DataCellStyle}" RowStyle="{StaticResource DataRowStyle}">
<DataGrid.Columns>
<DataGridTextColumn Width="2.5*" Binding="{Binding LogTime}" Header="时间"/>
<DataGridTextColumn Width="5*" Binding="{Binding LogMessage}" Header="消息"/>
<DataGridTextColumn Width="*" Binding="{Binding LogType}" Header="类型"/>
<DataGridTextColumn Width="*" Binding="{Binding LogLevel}" Header="等级"/>
</DataGrid.Columns>
</DataGrid>
</Grid>
</Border>
<Border Margin="5" BorderBrush="#569BAC" CornerRadius="5" BorderThickness="1" Grid.Column="2">
<Grid>
<Grid.RowDefinitions>
<RowDefinition Height="40" />
<RowDefinition />
<RowDefinition />
<RowDefinition />
</Grid.RowDefinitions>
<StackPanel Grid.Row="0" Orientation="Horizontal">
<Line X1="8" Y1="8" X2="8" Y2="30" Stroke="#00F6FB" StrokeThickness="4" />
<TextBlock Margin="20 0 0 0" Text="参数配置" FontSize="20" Foreground="#9FB1BF" HorizontalAlignment="Center" VerticalAlignment="Center" />
</StackPanel>
<StackPanel Grid.Row="1">
<TextBlock Text="取料速度" Margin="30 0 0 8" FontSize="14" Foreground="#718A9F" />
<WrapPanel>
<TextBox Text="{Binding RecpSpeed}" VerticalContentAlignment="Center" HorizontalContentAlignment="Left" Margin="30 0 0 0" Background="#CFD7DD" Width="150">
<TextBox.Resources>
<Style TargetType="{x:Type Border}">
<Setter Property="CornerRadius" Value="5"/>
</Style>
</TextBox.Resources>
</TextBox>
<TextBlock Margin="20 5 0 0" Text="cm/s" VerticalAlignment="Center" FontSize="18" Foreground="#9DAFBC" />
</WrapPanel>
</StackPanel>
<StackPanel Grid.Row="2">
<TextBlock Text="加工速度" Margin="30 0 0 8" FontSize="14" Foreground="#718A9F" />
<WrapPanel>
<TextBox Text="{Binding ProcessSpeed}" VerticalContentAlignment="Center" HorizontalContentAlignment="Left" Margin="30 0 0 0" Background="#CFD7DD" Width="150">
<TextBox.Resources>
<Style TargetType="{x:Type Border}">
<Setter Property="CornerRadius" Value="5"/>
</Style>
</TextBox.Resources>
</TextBox>
<TextBlock Margin="20 5 0 0" Text="cm/s" VerticalAlignment="Center" FontSize="18" Foreground="#9DAFBC" />
</WrapPanel>
</StackPanel>
<StackPanel Grid.Row="3">
<TextBlock Text="加工位置" Margin="30 0 0 8" FontSize="14" Foreground="#718A9F" />
<WrapPanel>
<TextBox Text="{Binding ProcessLocation}" VerticalContentAlignment="Center" HorizontalContentAlignment="Left" Margin="30 0 0 0" Background="#CFD7DD" Width="150">
<TextBox.Resources>
<Style TargetType="{x:Type Border}">
<Setter Property="CornerRadius" Value="5"/>
</Style>
</TextBox.Resources>
</TextBox>
<TextBlock Margin="20 5 0 0" Text="cm" VerticalAlignment="Center" FontSize="18" Foreground="#9DAFBC" />
</WrapPanel>
</StackPanel>
</Grid>
</Border>
</Grid>
<Grid Grid.Row="2" Margin="50 0 50 0" VerticalAlignment="Center">
<Grid.ColumnDefinitions>
<ColumnDefinition Width="1*" />
<ColumnDefinition Width="0.6*"/>
<ColumnDefinition Width="0.6*"/>
<ColumnDefinition Width="0.6*"/>
<ColumnDefinition Width="2*"/>
<ColumnDefinition />
<ColumnDefinition />
<ColumnDefinition />
</Grid.ColumnDefinitions>
<Button Name="Btn_Start" Width="130" Content="启动系统" Grid.Column="0" Height="NaN" Margin="6,2,5,1" Click="Btn_Start_Click" />
<Button Name="Btn_Recp" Content="去取料" Grid.Column="1" Click="Btn_Recp_Click" />
<Button Name="Btn_Pack" Content="去打包" Grid.Column="2" Click="Btn_Pack_Click" />
<Button Name="Btn_Tag" Content="贴标签" Grid.Column="3" Click="Btn_Tag_Click"/>
<WrapPanel Grid.Column="5" VerticalAlignment="Center" HorizontalAlignment="Center">
<TextBlock Text="去取料" VerticalAlignment="Center" Foreground="#BBC2C8" />
<Rectangle Name="RecpLight" Margin="10 0 0 0" Width="80" Height="35" Fill="#BBC2C8" RadiusX="5" RadiusY="5" />
</WrapPanel>
<WrapPanel Grid.Column="6" VerticalAlignment="Center" HorizontalAlignment="Center">
<TextBlock Text="去打包" VerticalAlignment="Center" Foreground="#BBC2C8" />
<Rectangle Name="PackLight" Margin="10 0 0 0" Width="80" Height="35" Fill="#BBC2C8" RadiusX="5" RadiusY="5" />
</WrapPanel>
<WrapPanel Grid.Column="7" VerticalAlignment="Center" HorizontalAlignment="Center">
<TextBlock Text="贴标签" VerticalAlignment="Center" Foreground="#BBC2C8" />
<Rectangle Name="MarkTagLight" Margin="10 0 0 0" Width="80" Height="35" Fill="#BBC2C8" RadiusX="5" RadiusY="5" />
</WrapPanel>
</Grid>
<Grid Grid.Row="3">
<Border BorderBrush="#1A305F" BorderThickness="0 0 0 10" />
<Canvas>
<Viewbox Name="MoveRegion" Width="150" Height="150" Canvas.Left="{Binding CarLocation}" Canvas.Top="77">
<Grid RenderTransformOrigin="0.5,0.5">
<Grid.RenderTransform>
<ScaleTransform ScaleX="{Binding CarDirection}" />
</Grid.RenderTransform>
<Path Data="M254.464 668.672c-60.928 0-110.592 49.664-110.592 110.592 0 60.928 49.664 110.592 110.592 110.592 60.928 0 110.592-49.664 110.592-110.592-0.512-61.44-49.664-110.592-110.592-110.592z" Fill="#135173" />
<Path Data="M850.944 487.936h-20.992l-194.56-206.336-0.512-0.512c-24.064-24.576-57.344-38.4-91.648-37.888h-245.76c-43.008 0-82.944 22.016-105.984 58.368l-1.024 1.536-84.48 184.832h-50.176c-28.16 0-50.688 22.528-50.688 50.688v135.168c0 60.416 48.128 110.08 108.032 112.64v-7.168c0-77.824 62.976-141.312 141.312-141.312s141.312 62.976 141.312 141.312v7.168h262.144v-7.168c1.536-77.824 66.048-139.776 144.384-138.24 75.776 1.536 136.704 62.464 138.24 138.24v7.168h34.304c23.552 0 43.008-19.456 43.008-43.008v-90.112c-0.512-91.648-75.264-165.376-166.912-165.376z m-677.376 0L244.736 332.8c11.776-17.408 31.744-28.16 52.736-28.16H404.48v183.296H173.568z m292.352 0V304.64h76.8c17.92 0 35.328 7.168 48.128 19.968l154.624 163.328H465.92z" Fill="#135173" />
<Path Data="M798.72 668.672c-60.928 0-110.592 49.664-110.592 110.592 0 60.928 49.664 110.592 110.592 110.592 60.928 0 110.592-49.664 110.592-110.592 0-61.44-49.664-110.592-110.592-110.592z" Fill="#135173" />
</Grid>
</Viewbox>
<StackPanel Canvas.Left="85" Canvas.Top="40">
<Ellipse Name="RecpPoint" Fill="#A0A0A0" Width="20" Height="20" />
<Line X1="10" Y1="3" X2="10" Y2="150" Stroke="#A5AEB4" StrokeThickness="2" StrokeDashArray="7" />
</StackPanel>
<StackPanel Canvas.Left="585" Canvas.Top="40">
<Ellipse Name="HomePoint" Fill="#A0A0A0" Width="20" Height="20" />
<Line X1="10" Y1="3" X2="10" Y2="150" Stroke="#A5AEB4" StrokeThickness="2" StrokeDashArray="7" />
</StackPanel>
<StackPanel Canvas.Left="790" Canvas.Top="40">
<Ellipse Name="TagPoint" Fill="#A0A0A0" Width="20" Height="20" />
<Line X1="10" Y1="3" X2="10" Y2="150" Stroke="#A5AEB4" StrokeThickness="2" StrokeDashArray="7" />
</StackPanel>
<StackPanel Canvas.Left="1085" Canvas.Top="40">
<Ellipse Name="PackPoint" Fill="#A0A0A0" Width="20" Height="20" />
<Line X1="10" Y1="3" X2="10" Y2="150" Stroke="#A5AEB4" StrokeThickness="2" StrokeDashArray="7" />
</StackPanel>
</Canvas>
</Grid>
<Canvas Grid.Row="4" Background="#91A6B4" Margin="0 2 0 0">
<TextBlock Canvas.Left="80" Canvas.Top="6" Text="取料" FontSize="16" Foreground="#DEE4E8" />
<TextBlock Canvas.Left="580" Canvas.Top="6" Text="原点" FontSize="16" Foreground="#DEE4E8" />
<TextBlock Canvas.Left="780" Canvas.Top="6" Text="贴标签" FontSize="16" Foreground="#DEE4E8" />
<TextBlock Canvas.Left="1080" Canvas.Top="6" Text="打包" FontSize="16" Foreground="#DEE4E8" />
</Canvas>
</Grid>
</Window>
using System;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Diagnostics;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Threading;
using Zhaoxi.Motion.ControlLib;
using static gts.mc;
namespace Zhaoxi.Motion.CorePlat
{
/// <summary>
/// Interaction logic for MainWindow.xaml
/// </summary>
public partial class MainWindow : Window, INotifyPropertyChanged
{
public ObservableCollection<MotionLogger> Loggers {
get; set; } = new ObservableCollection<MotionLogger>();
/// <summary>
/// 定义点位目标的常量
/// </summary>
const int RECP_POS = 19360;
const int PACK_POS = -19360;
const int MTAG_POS = -8000;
// 创建定时器对象
private DispatcherTimer timer = new DispatcherTimer();
private IAxisTool axisTool;
private WorkState workState = WorkState.None;
private double encPos;
private double _realLocation = 0;
private double _realSpeed = 0;
private string _runState = "停止";
// 系统默认的速度
private double defaulVel = 8;
// 系统默认颜色
private Brush pointLightNewBrush;
private Brush pointLightOldBrush;
private Brush processLightBrush;
// 记录小车的开始位置
private double _carLocation;
private int _carDirection = 1;
/// <summary>
/// 参数设置相关的字段
/// </summary>
private double _recpSpeed;
private double _processSpeed;
private double _processLocation;
public event PropertyChangedEventHandler PropertyChanged;
public void RiseProperty(string propertyName)
{
if (PropertyChanged != null)
{
PropertyChanged(this, new PropertyChangedEventArgs(propertyName));
}
}
public double RealLocation
{
get {
return _realLocation; }
set {
_realLocation = value; RiseProperty(nameof(RealLocation)); }
}
public double RealSpeed
{
get {
return _realSpeed; }
set {
_realSpeed = value; RiseProperty(nameof(RealSpeed)); }
}
public string RunState
{
get {
return _runState; }
set {
_runState = value; RiseProperty(nameof(RunState)); }
}
public double RecpSpeed
{
get {
return _recpSpeed; }
set {
_recpSpeed = value; RiseProperty(nameof(RecpSpeed)); }
}
public double ProcessSpeed
{
get {
return _processSpeed; }
set {
_processSpeed = value; RiseProperty(nameof(ProcessSpeed)); }
}
public double ProcessLocation
{
get {
return _processLocation; }
set {
_processLocation = value; RiseProperty(nameof(ProcessLocation)); }
}
public double CarLocation
{
get {
return _carLocation; }
set {
_carLocation = value; RiseProperty(nameof(CarLocation)); }
}
public int CarDirection
{
get {
return _carDirection; }
set {
_carDirection = value; RiseProperty(nameof(CarDirection)); }
}
public MainWindow()
{
InitializeComponent();
// 设置DataContext
DataContext = this;
// 调用初始化方法
InitData();
}
private void InitData()
{
// 定时器配置及启动
timer.Interval = TimeSpan.FromMilliseconds(10);
timer.Tick += Timer_Tick;
timer.Start();
// 创建对应轴卡的实例对象
axisTool = AxisToolFactory.CreateInstance(AxisType.GTS800);
// 初始化轴卡
axisTool.AxisInit(1);
}
/// <summary>
/// 刷新小车位置和监控轴状态
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
/// <exception cref="NotImplementedException"></exception>
private void Timer_Tick(object sender, EventArgs e)
{
// 获取小车物理实际移动位置
axisTool.GetAxisEncPos(1, out encPos);
// 8p/ms => 8000p/s => (8000 / 2000) = 4cm/s
axisTool.GetAxisEncVel(1, out double encVel);
// 计算速度
var speed = encVel * 1000 / 2000;
// 获取物理位置
var location = encPos / 2000;
// 给当前位置赋值
RealLocation = Math.Round(location, 2);
// 给当前速度属性赋值
RealSpeed = Math.Abs(Math.Round(speed, 2));
// 计算小车在软件的位置
CarLocation = -50.88411143620405 * location + 527.4418012975448;
CarDirectionLocation();
// 根据速度设置运行状态
if (speed != 0)
{
RunState = "运行";
}
else
{
RunState = "停止";
}
switch (workState)
{
case WorkState.Package:
if (encPos == PACK_POS)
{
PackPoint.Fill = pointLightNewBrush;
PackLight.Fill = processLightBrush;
}
else
{
PackLight.Fill = Brushes.Tomato;
}
break;
case WorkState.MarkTag:
if (encPos == MTAG_POS)
{
TagPoint.Fill = pointLightNewBrush;
MarkTagLight.Fill = processLightBrush;
}
else
{
MarkTagLight.Fill = Brushes.Gold;
}
break;
case WorkState.Recplier:
if (encPos == RECP_POS)
{
RecpPoint.Fill = pointLightNewBrush;
RecpLight.Fill = processLightBrush;
}
else
{
RecpLight.Fill = Brushes.DodgerBlue;
}
break;
case WorkState.Home:
if (encPos == 0)
{
HomePoint.Fill = pointLightNewBrush;
}
break;
default:
break;
}
}
/// <summary>
/// 重置到点指示灯的功能
/// </summary>
private void ResetPointLight()
{
HomePoint.Fill = pointLightOldBrush;
RecpPoint.Fill = pointLightOldBrush;
TagPoint.Fill = pointLightOldBrush;
PackPoint.Fill = pointLightOldBrush;
}
/// <summary>
/// 退出应用程序
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Hyperlink_Click(object sender, RoutedEventArgs e)
{
// 停止轴
axisTool.StopAxis(1);
// 关闭轴卡
axisTool.CloseAxis();
// 关闭应用程序
Application.Current.Shutdown();
}
private void Window_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
{
this.DragMove();
}
/// <summary>
/// 系统启动
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Btn_Start_Click(object sender, RoutedEventArgs e)
{
Loggers.Add(new MotionLogger
{
LogTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
LogMessage = "执行启动系统功能",
LogLevel = 1,
LogType = "INFO"
});
// 调用回原点方法
// 创建运动参数对象
var param = new AxisParameter
{
acc = 0.4,
dec = 0.4,
velStart = 0,
smoothTime = 20
};
// 启动定时器
timer.Start();
// 执行回原操作
axisTool.AxisGoHome(1, param, defaulVel, 3);
// 切换位回原状态
workState = WorkState.Home;
// 调用重置到点指示灯的方法
ResetPointLight();
}
/// <summary>
/// 设置目标位置的点位运动
/// </summary>
/// <param name="pos"></param>
private void SetPos(int pos)
{
double runVel = 0; // 运行速度
// 重置到点指示灯颜色
ResetPointLight();
switch (workState)
{
case WorkState.None:
runVel = defaulVel;
break;
case WorkState.Package:
case WorkState.MarkTag:
runVel = ProcessSpeed;
break;
case WorkState.Recplier:
runVel = RecpSpeed;
break;
}
// 创建运动参数对象
var param = new AxisParameter
{
acc = 0.2,
dec = 0.2,
velStart = 0,
smoothTime = 25
};
// 设置绝对运动目标位置
// 8p / ms => 8000p / s => (8000 / 2000) = 4cm / s
// 走4cm = > 8000p / s => 8 p / ms
// runvel * 2000 / 1000
var pVel = runVel * 2000 / 1000;
axisTool.AxisAbsMove(1, param, pos, pVel);
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Btn_Pack_Click(object sender, RoutedEventArgs e)
{
if (RealSpeed == 0)
{
Loggers.Add(new MotionLogger
{
LogTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
LogMessage = "执行打包工序",
LogLevel = 0,
LogType = "INFO"
});
workState = WorkState.Package;
SetPos(PACK_POS);
}
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Btn_Recp_Click(object sender, RoutedEventArgs e)
{
if (RealSpeed == 0)
{
Loggers.Add(new MotionLogger
{
LogTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
LogMessage = "执行取料工序",
LogLevel = 0,
LogType = "INFO"
});
workState = WorkState.Recplier;
SetPos(RECP_POS);
}
}
/// <summary>
///
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Btn_Tag_Click(object sender, RoutedEventArgs e)
{
if (RealSpeed == 0)
{
Loggers.Add(new MotionLogger
{
LogTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
LogMessage = "执行贴标签工序",
LogLevel = 0,
LogType = "INFO"
});
workState = WorkState.MarkTag;
SetPos(MTAG_POS);
}
}
/// <summary>
/// 做数据的初始化
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Window_Loaded(object sender, RoutedEventArgs e)
{
Loggers.Add(new MotionLogger
{
LogTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"),
LogMessage = "执行系统数据初始化",
LogLevel = 0,
LogType = "INFO"
});
// 初始化配置参数
ProcessLocation = 4;
ProcessSpeed = 4;
RecpSpeed = 4;
// 初始化到点指示灯的颜色
pointLightOldBrush = new SolidColorBrush(Color.FromRgb(160, 160, 160));
pointLightNewBrush = new SolidColorBrush(Color.FromRgb(77, 203, 168));
processLightBrush = new SolidColorBrush(Color.FromRgb(187, 194, 200));
// 获取小车物理实际移动位置
axisTool.GetAxisEncPos(1, out encPos);
// 在启动系统的时候初始化到点指示灯状态
if (encPos == 0)
{
workState = WorkState.Home;
}
else if (encPos == MTAG_POS)
{
workState = WorkState.MarkTag;
}
else if (encPos == RECP_POS)
{
workState = WorkState.Recplier;
}
else if (encPos == PACK_POS)
{
workState = WorkState.Package;
}
}
double oldValue = 0;
/// <summary>
/// 判断轴卡输出的是正脉冲还是负脉冲
/// </summary>
/// <param name="flag"></param>
public void CarDirectionLocation()
{
Task.Run(() =>
{
while (RealSpeed != 0)
{
double newValue = 0;
var result = GT_GetEncPos(1, out newValue, 1, out uint clk);
if (result != 0)
{
Console.WriteLine("Failed to get encoder position!");
break;
}
if (newValue > oldValue)
{
CarDirection = -1;
}
else if (newValue < oldValue)
{
CarDirection = 1;
}
oldValue = newValue;
}
});
}
}
}
