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 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 { } } } }
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