📄 fouraxis.c
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teaching_flag=0;
break;
default:
break;
}
}
else if(f1_function==3)
{
if(f3_function==0) f3_function=2;
switch(f3_function)
{
case(1):
transmit1_cmd("300POSITION NO: \r");
transmit1_cmd("312on\r");
screen_flag=0x31;
input_dig_num=0;
input_initial=0;
position_flag=0;
repeat_flag=0;
break;
case(2):
transmit1_cmd("400DATA: \r");
transmit1_cmd("405on\r");
if(position_flag==1)
{
k=y1_position_0+position_num*20;
external_EEPROM_read(0,k,read_buff);
read_buff[0]=0x34;
read_buff[1]=0x30;
read_buff[2]=0x35;
transmit1_cmd("400DATA: \r");
transmit1_cmd(read_buff);
transmit1_cmd("405on\r");
}
screen_flag=0x32;
input_dig_num=0;
input_initial=0;
repeat_flag=0;
teaching_flag=0;
break;
default:
break;
}
}
else if(f1_function==4)
{
if(f3_function==0) f3_function=2;
switch(f3_function)
{
case(1):
transmit1_cmd("300POSITION NO: \r");
transmit1_cmd("312on\r");
screen_flag=0x41;
input_dig_num=0;
input_initial=0;
position_flag=0;
repeat_flag=0;
break;
case(2):
transmit1_cmd("400DATA: \r");
transmit1_cmd("405on\r");
if(position_flag==1)
{
k=y2_position_0+position_num*20;
external_EEPROM_read(0,k,read_buff);
read_buff[0]=0x34;
read_buff[1]=0x30;
read_buff[2]=0x35;
transmit1_cmd("400DATA: \r");
transmit1_cmd(read_buff);
transmit1_cmd("405on\r");
}
screen_flag=0x42;
input_dig_num=0;
input_initial=0;
repeat_flag=0;
teaching_flag=0;
break;
default:
break;
}
}
else
{
f3_function=0;
break;
}
break;
case '0':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('0');
}
else if(screen_flag==0x12)
{
screen12('0');
}
else if(screen_flag==0x13)
{
screen13('0');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('0');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('0');
}
}
break;
case '1':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('1');
}
else if(screen_flag==0x12)
{
screen12('1');
}
else if(screen_flag==0x13)
{
screen13('1');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('1');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('1');
}
}
break;
case '2':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('2');
}
else if(screen_flag==0x12)
{
screen12('2');
}
else if(screen_flag==0x13)
{
screen13('2');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('2');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('2');
}
}
break;
case '3':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('3');
}
else if(screen_flag==0x12)
{
screen12('3');
}
else if(screen_flag==0x13)
{
screen13('3');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('3');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('3');
}
}
break;
case '4':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('4');
}
else if(screen_flag==0x12)
{
screen12('4');
}
else if(screen_flag==0x13)
{
screen13('4');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('4');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('4');
}
}
break;
case '5':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('5');
}
else if(screen_flag==0x12)
{
screen12('5');
}
else if(screen_flag==0x13)
{
screen13('5');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('5');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('5');
}
}
break;
case '6':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('6');
}
else if(screen_flag==0x12)
{
screen12('6');
}
else if(screen_flag==0x13)
{
screen13('6');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('6');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('6');
}
}
break;
case '7':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('7');
}
else if(screen_flag==0x12)
{
screen12('7');
}
else if(screen_flag==0x13)
{
screen13('7');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('7');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('7');
}
}
break;
case '8':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('8');
}
else if(screen_flag==0x12)
{
screen12('8');
}
else if(screen_flag==0x13)
{
screen13('8');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('8');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('8');
}
}
break;
case '9':if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11('9');
}
else if(screen_flag==0x12)
{
screen12('9');
}
else if(screen_flag==0x13)
{
screen13('9');
}
else if((screen_flag==0x21)||(screen_flag==0x31)||(screen_flag==0x41))
{
screen21('9');
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22('9');
}
}
break;
case 0x2E:if(f2_function==0)
{
if(screen_flag==0x11)
{
screen11(0x2E);
}
else if(screen_flag==0x12)
{
screen12(0x2E);
}
else if(screen_flag==0x13)
{
screen13(0x2E);
}
else if((screen_flag==0x22)||(screen_flag==0x32)||(screen_flag==0x42))
{
screen22(0x2E);
}
}
break;
case QN:disp_string_1(0,"QN");
transmit2_cmd(temp_save);
original_return1(U,2,1);
temp_position=read_RCUNT1(U);//@@@
RCUNT_position=read_RCUNT2(U);//@@@
CLRU_CLEAR();//@@@
CLRU_SET();//@@@
temp_position=read_RCUNT1(U);//@@@
RCUNT_position=read_RCUNT2(U);//@@@
in_positioning(STAUD,U,2,-40000L);
temp_position=read_RCUNT1(U);//@@@
RCUNT_position=read_RCUNT2(U);//@@@
while((PINE&BSYU)==0);
break;
case ZN:disp_string_1(0,"ZN");
transmit2_cmd(temp_save);
if((f2_function==0)&&((PINE&BSYZ)!=0)&&(screen_flag==0x42)&&(position_flag==1))
{
if(teaching_flag!=0)
{
if(slow_flag!=0)
{
temp_position=-320L;
in_positioning(STAUD,Z,2,temp_position);
}
else if(slow_flag==0)
{
temp_position=-3L;
in_positioning(STAUD,Z,2,temp_position);
}
while((PIND&IFB)==0);
DSPXOTPB=DSPXIOPB&0xFB;//set busy flag
while((PINE&BSYZ)==0);
temp_position=read_RCUNT1(Z);
transferhex_to_ascii(temp_position);
transmit1_cmd("400DATA: \r");
transmit1_cmd(read_buff);
input_initial=1;
xyz_axis_flag=1;
}
else if(teaching_flag==0)
{
RCUNT_position=transferascii_to_hex(read_buff);
temp_position=read_RCUNT1(Z);
RCUNT_position=RCUNT_position-temp_position;
in_positioning(STAUD,Z,2,RCUNT_position);
while((PIND&IFB)==0);
DSPXOTPB=DSPXIOPB&0xFB;//set busy flag
while((PINE&BSYZ)==0);
teaching_flag=1;
}
}
break;
case YN:disp_string_1(0,"YN");
transmit2_cmd(temp_save);
if((f2_function==0)&&((PINE&BSYy)!=0)&&(screen_flag==0x32)&&(position_flag==1))
{
if(teaching_flag!=0)
{
if(slow_flag!=0)
{
temp_position=-320L;
in_positioning(STAUD,Y,2,temp_position);
}
else if(slow_flag==0)
{
temp_position=-3L;
in_positioning(STAUD,Y,2,temp_position);
}
while((PIND&IFB)==0);
DSPXOTPB=DSPXIOPB&0xFD;//set busy flag
while((PINE&BSYy)==0);
temp_position=read_RCUNT1(Y);
transferhex_to_ascii(temp_position);
transmit1_cmd("400DATA: \r");
transmit1_cmd(read_buff);
input_initial=1;
xyz_axis_flag=1;
}
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