p1240ptp.cpp

基于PCI-1240运动控制卡的示例5-PTP

	   else
	      printf("\nMoving......\n");
  // Program wait when axis busy
	   while ( P1240MotAxisBusy( byBoard_ID, XY_Axis ) != ERROR_SUCCESS )
	   {
	      ;
	   }
	   cout<<"If you want to restart,press r."<<endl;
	   cin>>back;
	   if((back == 'R') || (back == 'r'))
		  goto RESTART;
//	   else
//		   break;
	}
	 else if(a==3)
	 {
		 lPulseX = 150000;
		 lPulseY = 100000;
		 dwDV = 20000;
		dwReturnCode = P1240MotPtp(
		byBoard_ID, // Board ID number
		XY_Axis,  // Assign the operation axis
		byRA,       // Assign movement operation is relative 
           // or absolute coordinate
		lPulseX,    // The movement pulses number for X axis
		lPulseY,    // The movement pulses number for Y axis
		lPulseZ,    // The movement pulses number for Z axis
		lPulseU);   // The movement pulses number for U axis
		if ( dwReturnCode != ERROR_SUCCESS )
			printf("\n\n Program Fail 0x%04x", dwReturnCode);
		else
			printf("\n Moving......\n");
		LONG lCenter1 = 0;   
		LONG lCenter2 = 10000;
		LONG lEnd1 = 0;
		LONG lEnd2 = 20000;
		cout<<"Please input the DV of the arc interpolation:"<<endl;
		cin>>dwDV;
		dwReturnCode = P1240MotAxisParaSet(
		   byBoard_ID, // Board ID number
		   0,          // Set 0 for Arc Interpolation
		   byTS,       // Assign the acceleration type T or S 
		   dwSV,       // Assign the initial speed
		   dwDV,       // Assign the drive speed
		   dwMDV,      // Assign the Maximum drive speed
		   dwAC,       // Assign the acceleration speed
		   dwAK);      // Assign the acceleration rate

		if ( dwReturnCode != ERROR_SUCCESS )
		   printf("\n\n Program Fail 0x%04x", dwReturnCode);
		else
		   printf("Setting parameter.......\n");

   // Start arc function
//RESTART:   
		dwReturnCode = P1240MotArc(
		   byBoard_ID,       // Board ID number
		   XY_Axis,          // Assign the operation axis
		   byRA,             // Assign movement operation is relative 
                        // or absolute coordinate
		   byArcDirection,   // Assign the movement direction
		   lCenter1,         // The center position for first axis
		   lCenter2,         // The center position for second axis
		   lEnd1,            // The end position for first axis
		   lEnd2);           // The end position for second axis

		if ( dwReturnCode != ERROR_SUCCESS )
		   printf("\n\n Program Fail 0x%04x", dwReturnCode);
		else
		   printf("\nMoving......\n");

		   // Program wait when axis busy
		while ( P1240MotAxisBusy(byBoard_ID, XYZ_Axis) != ERROR_SUCCESS )
		{
		   ;
		}
		cout<<"If you want to restart,press r."<<endl;
		cin>>back;
		if((back == 'R') || (back == 'r'))
   		   goto RESTART;
//		else
//			break;
	 }
	  else if(a==2)
	  {
			double x[27] = {10,20,30,40,50,60,70,80,90,100,110,120,130,140,150,160,170,180,190,200,220,240,260,280,300,320,340};
			double y[27] = {10,20,30,40,50,60,70,80,90,100,110,120,130,140,150,160,170,180,190,200,210,220,230,240,250,260,270};
			int i,n;
//			double x2[27];
//			double y2[27];
			//	x[] 
			//	y[] 
			n=27;
			for(i=0;i<n;i++)
			{
				if(x[i]<0 || x[i]>660 || y[i]<0 || y[i]>410)
				{
					cout<<"The position is illegal."<<endl;
					break;
				}
				else
					if(i==0)
					{
						lPulseX2 = x[i]*500;
						lPulseX=lPulseX2+10000;
						lPulseY2 = y[i]*500;
						lPulseY=lPulseY2+10000;
					}
					else
					{
						lPulseX2 = (x[i]-x[i-1])*500;
						lPulseX=lPulseX2+10000;
						lPulseY2 = (y[i]-y[i-1])*500;
						lPulseY=lPulseY2+10000;
					}
					dwDV=20000;
					dwReturnCode = P1240MotAxisParaSet(
					      byBoard_ID, // Board ID number
					      Y_Axis,  // Assign the operation axis
					      byTS,       // Assign the acceleration type T or S 
						  dwSV,       // Assign the initial speed
					      dwDV,       // Assign the drive speed
					      dwMDV,      // Assign the Maximum drive speed
					      dwAC,       // Assign the acceleration speed
					      dwAK);      // Assign the acceleration rate
					if ( dwReturnCode != ERROR_SUCCESS )
						printf("\n\n Program Fail--MotAxisParaSet1 0x%04x", dwReturnCode);
					if (i==0)
					{
						if(y[i]!=0)
							dwDV *= (x[i]/y[i]);
						else
							dwDV = 50000;
					}
					else
					{
						double m,k;
							
						if(y[i]!=y[i-1])
							m = (x[i]-x[i-1])/(y[i]-y[i-1]);
						else
							m = 2;
					//	cout<<m<<endl;
						k = (m>0?m:-m)*dwDV;
						dwDV = (long)k;
						if(dwDV>dwMDV)
						{
							cout<<"error!"<<endl;
							break;
						}
					}
					dwReturnCode = P1240MotAxisParaSet(
				      byBoard_ID, // Board ID number
				      X_Axis,  // Assign the operation axis
				      byTS,       // Assign the acceleration type T or S 
					  dwSV,       // Assign the initial speed
				      dwDV,       // Assign the drive speed
				      dwMDV,      // Assign the Maximum drive speed
				      dwAC,       // Assign the acceleration speed
				      dwAK);      // Assign the acceleration rate
					if ( dwReturnCode != ERROR_SUCCESS )
						printf("\n\n Program Fail--MotAxisParaSet2 0x%04x", dwReturnCode);

					//读逻辑位置计数器
					
					ULONG Xposi,Yposi,Xposi2,Yposi2;
					dwReturnCode = P1240MotRdReg(
						byBoard_ID,       // Board ID number
						X_Axis, 
						Lcnt,
						&Xposi);
					cout<<"Xposi"<<Xposi<<endl;
					if ( dwReturnCode != ERROR_SUCCESS )
						printf("\n\n P1240MotRdReg Fail 0x%04x", dwReturnCode);

					dwReturnCode = P1240MotPtp(
						byBoard_ID, // Board ID number
						XY_Axis,  // Assign the operation axis
						byRA,       // Assign movement operation is relative 
						// or absolute coordinate
						lPulseX,    // The movement pulses number for X axis
						lPulseY,    // The movement pulses number for Y axis
						lPulseZ,    // The movement pulses number for Z axis
						lPulseU);   // The movement pulses number for U axis
					if ( dwReturnCode != ERROR_SUCCESS )
						printf("\n\n Program Fail--P1240MotPtp 0x%04x", dwReturnCode);
					else
						printf("\n Moving......\n");
 
			// Program wait when axis busy
					while ( P1240MotAxisBusy(byBoard_ID, XY_Axis) != ERROR_SUCCESS )
					{
						dwReturnCode = P1240MotRdReg(
							byBoard_ID,       // Board ID number
							X_Axis, 
							Lcnt,
							&Xposi2);

						if ( dwReturnCode != ERROR_SUCCESS )
							printf("\n\n P1240MotRdReg Fail 0x%04x", dwReturnCode);
						if((Xposi-Xposi2)==lPulseX2||(Xposi-Xposi2)==-lPulseX2)
						{
							cout<<"Xposi2"<<Xposi2<<endl;
							break;
						}
					}
			}
		   cout<<"If you want to restart,press r."<<endl;
			  cin>>back;
		   if((back == 'R') || (back == 'r'))
			  goto RESTART;
//		   else
//			   break;
	  }
//	   default:
//		   cout<<"error!"<<endl;
//		   break;
   

		//Give user the chance to run program again
	printf("\nPress 'R' or 'r' to Run again, press other keys to continue!\n");
	int iChar = getch();
	if ( ((iChar == 'R') || (iChar == 'r')) )
	{
		goto RESTART;
	}
	else
	{
	   // Device close
	   dwReturnCode = P1240MotDevClose(byBoard_ID);
	   if ( dwReturnCode != ERROR_SUCCESS )
	      printf("\n\n Program Fail 0x%04x", dwReturnCode);
	   else
	      printf("\nDevice closed!\n");
	 

	   //printf("\n\n Press any key to quit\n");
	   getch();
	   exit(1);
	}
}