📄 frmmain.frm
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_ExtentX = 14870
_ExtentY = 1508
ButtonWidth = 1455
ButtonHeight = 1349
Appearance = 1
ImageList = "ImageList"
_Version = 393216
BeginProperty Buttons {66833FE8-8583-11D1-B16A-00C0F0283628}
NumButtons = 4
BeginProperty Button1 {66833FEA-8583-11D1-B16A-00C0F0283628}
ImageIndex = 1
Style = 3
EndProperty
BeginProperty Button2 {66833FEA-8583-11D1-B16A-00C0F0283628}
Caption = "参数设置"
ImageIndex = 1
EndProperty
BeginProperty Button3 {66833FEA-8583-11D1-B16A-00C0F0283628}
Style = 3
EndProperty
BeginProperty Button4 {66833FEA-8583-11D1-B16A-00C0F0283628}
Caption = "退出"
ImageIndex = 8
EndProperty
EndProperty
End
Begin MSComctlLib.ImageList ImageList
Left = 8160
Top = 240
_ExtentX = 1005
_ExtentY = 1005
BackColor = -2147483643
ImageWidth = 32
ImageHeight = 32
MaskColor = 12632256
_Version = 393216
BeginProperty Images {2C247F25-8591-11D1-B16A-00C0F0283628}
NumListImages = 13
BeginProperty ListImage1 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":90FA
Key = ""
EndProperty
BeginProperty ListImage2 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":99D4
Key = ""
EndProperty
BeginProperty ListImage3 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":A6AE
Key = ""
EndProperty
BeginProperty ListImage4 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":AF88
Key = ""
EndProperty
BeginProperty ListImage5 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":B862
Key = ""
EndProperty
BeginProperty ListImage6 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":C53C
Key = ""
EndProperty
BeginProperty ListImage7 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":CE16
Key = ""
EndProperty
BeginProperty ListImage8 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":D6F0
Key = ""
EndProperty
BeginProperty ListImage9 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":DFCA
Key = ""
EndProperty
BeginProperty ListImage10 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":E8A4
Key = ""
EndProperty
BeginProperty ListImage11 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":F17E
Key = ""
EndProperty
BeginProperty ListImage12 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":FA58
Key = ""
EndProperty
BeginProperty ListImage13 {2C247F27-8591-11D1-B16A-00C0F0283628}
Picture = "FrmMain.frx":10732
Key = ""
EndProperty
EndProperty
End
End
Attribute VB_Name = "FrmMain"
Attribute VB_GlobalNameSpace = False
Attribute VB_Creatable = False
Attribute VB_PredeclaredId = True
Attribute VB_Exposed = False
Public vel As Long
Private Sub Check1_Click()
If Check1.Value = 1 Then
TxtDis.Enabled = False
Else
TxtDis.Enabled = True
End If
End Sub
Private Sub CmdE_Click()
sudden_stop2 AxisLeft, AxisRight
CmdS.Enabled = True
CmdE.Enabled = False
End Sub
Private Sub CmdS_Click()
CmdS.Enabled = False
CmdE.Enabled = True
SetVel
If Option2(0).Value = True Then '直线前进
If Check1.Value = 1 Then '一直运动
GoLine 1, -1
Else '指定距离运动
If TxtDis.Text = "" Or TxtDis.Text = 0 Then
MsgBox "请输入运动距离"
TxtDis.SetFocus
CmdSAndCmdE
Exit Sub
End If
GoLine 1, Val(Trim(TxtDis.Text))
End If
ElseIf Option2(1).Value = True Then '直线后退
If Check1.Value = 1 Then '一直运动
GoLine -1, -1
Else '指定距离运动
If TxtDis.Text = "" Or TxtDis.Text = 0 Then
MsgBox "请输入运动距离"
TxtDis.SetFocus
CmdSAndCmdE
Exit Sub
End If
GoLine -1, Val(Trim(TxtDis.Text))
End If
ElseIf Option2(2).Value = True Then '走左圆
If TxtR.Text = "" Or TxtR.Text = 0 Then
MsgBox "请输入半径"
TxtR.SetFocus
CmdSAndCmdE
Exit Sub
End If
GoRing 1, Val(Trim(TxtR.Text))
ElseIf Option2(3).Value = True Then '走右圆
If TxtR.Text = "" Or TxtR.Text = 0 Then
MsgBox "请输入半径"
TxtR.SetFocus
CmdSAndCmdE
Exit Sub
End If
GoRing -1, Val(Trim(TxtR.Text))
ElseIf Option2(4).Value = True Then '原地左转
GoRing 1, Val(DisLtoR / 2)
ElseIf Option2(5).Value = True Then '原地右转
GoRing -1, Val(DisLtoR / 2)
ElseIf Option2(6).Value = True Then '走正方
If TxtBorder.Text = "" Or TxtBorder.Text = 0 Then
MsgBox "请输入边长"
TxtBorder.SetFocus
CmdSAndCmdE
Exit Sub
End If
GoLine 1, Val(Trim(TxtBorder))
GoRing -1, Val(DisLtoR / 2)
GoLine 1, Val(Trim(TxtBorder))
GoRing -1, Val(DisLtoR / 2)
GoLine 1, Val(Trim(TxtBorder))
GoRing -1, Val(DisLtoR / 2)
GoLine 1, Val(Trim(TxtBorder))
GoRing -1, Val(DisLtoR / 2)
ElseIf Option2(7).Value = True Then '走八字
If Txt8R.Text = "" Or Txt8R.Text = 0 Then
MsgBox "请输入8字半径"
Txt8R.SetFocus
CmdSAndCmdE
Exit Sub
End If
GoRing -1, Val(Trim(Txt8R.Text))
GoRing 1, Val(Trim(Txt8R.Text))
End If
End Sub
Private Sub GoLine(ByVal dir As Long, ByVal Dis As Long)
reset_pos AxisLeft
reset_pos AxisRight
If Dis = -1 Then
con_vmove2 AxisLeft, dir, AxisRight, dir
Else
If dir = 1 Then
con_pmove2 AxisLeft, Dis, AxisRight, Dis
Else
con_pmove2 AxisLeft, -Dis, AxisRight, -Dis
End If
End If
Do Until check_done2(AxisLeft, AxisRight) = 0
DoEvents
Loop
End Sub
Private Sub GoRing(ByVal dir As Long, ByVal R As Long)
If R - DisLtoR / 2 = 0 Then '原地转圈
If dir = 1 Then '左转
con_pmove AxisRight, 2 * Pi * DisLtoR
Else '右转
con_pmove AxisLeft, 2 * Pi * DisLtoR
End If
Else '走圆
If dir = 1 Then '左圆
'2 * Pi * ( R-DisLtoR / 2) 左轮移动距离
'2 * Pi * ( R+DisLtoR / 2) 右轮移动距离
'vel 左轮速度
'vel*(( R+DisLtoR / 2)/( R-DisLtoR / 2)) 右轮速度
set_conspeed AxisLeft, vel
set_conspeed AxisRight, vel * ((R + DisLtoR / 2) / (R - DisLtoR / 2))
con_pmove AxisLeft, 2 * Pi * (R - DisLtoR / 2)
con_pmove AxisRight, 2 * Pi * (R + DisLtoR / 2)
Else '右圆
set_conspeed AxisRight, vel
set_conspeed AxisLeft, vel * ((R + DisLtoR / 2) / (R - DisLtoR / 2))
con_pmove AxisRight, 2 * Pi * (R - DisLtoR / 2)
con_pmove AxisLeft, 2 * Pi * (R + DisLtoR / 2)
End If
End If
Do Until check_done2(AxisLeft, AxisRight) = 0
DoEvents
Loop
End Sub
Private Sub SetVel()
If Option1(0).Value = True Then
vel = PUsOf1mm * DefaultVel
ElseIf Option1(1).Value = True Then
vel = PUsOf1mm * DefaultVel * 2
ElseIf Option1(2).Value = True Then
vel = PUsOf1mm * DefaultVel / 2
End If
set_conspeed AxisLeft, vel
set_conspeed AxisRight, vel
End Sub
Private Sub Form_Load()
Dim ret As Long
ret = 0
'初始化电机控制卡
ret = SetBoard
If ret < 0 Then
MsgBox "抱歉,初始化电机控制卡失败"
'End
End If
ReadIniPara
Option2_Click (0)
End Sub
'该函数对板卡进行设置，可在窗体加载时调用
Private Function SetBoard() As Integer
Dim Rtn As Integer
Rtn = auto_set() '对板卡进行自动设置
If Rtn <= 0 Then '若自动设置错误则返回0
SetBoard = -1
Exit Function
End If
Rtn = init_board
If Rtn <> 0 Then
SetBoard = -2
Exit Function
End If
SetBoard = 0
End Function
Private Sub Option2_Click(index As Integer)
If index = 0 Or index = 1 Then
Check1.Enabled = True
TxtDis.Enabled = True
Else
Check1.Enabled = False
TxtDis.Enabled = False
End If
If index = 2 Or index = 3 Then
TxtR.Enabled = True
Else
TxtR.Enabled = False
End If
If index = 6 Then
TxtBorder.Enabled = True
Else
TxtBorder.Enabled = False
End If
If index = 7 Then
Txt8R.Enabled = True
Else
Txt8R.Enabled = False
End If
End Sub
Private Sub CmdSAndCmdE()
CmdS.Enabled = True
CmdE.Enabled = False
End Sub
Private Sub Toolbar_ButtonClick(ByVal Button As MSComctlLib.Button)
Select Case Button.Caption
Case "参数设置"
FrmSet.Show 1
Case "退出"
Unload Me
End
End Select
End Sub
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