channel.cpp

机械手IPC控制器伺服运动程序

// channel.cpp: implementation of the Cchannel class.
//
//////////////////////////////////////////////////////////////////////

#include "stdafx.h"
#include "alfa.h"
#include "channel.h"

#ifdef _DEBUG
#undef THIS_FILE
static char THIS_FILE[]=__FILE__;
#define new DEBUG_NEW
#endif

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
IMPLEMENT_SERIAL(Cchannel,CObject,1)
Cchannel::Cchannel()
{
      m_channel=0;
	  m_rpm=3000;
	  m_ppr=500;
	  m_gear=1;
 	  m_pitch=1;
	  m_highlimit=5000;
	  m_lowlimit=-5000;
	  m_highoffset=0;
	  m_lowoffset=0;
	  m_gain=64;
	  m_pos=0;
	  m_command=0;
	  m_mode=3;
	  m_index=0;
	  m_highspd=10;
	  m_lowspd=10;
	  m_acc=300;
	  m_dec=300;
	  m_offset=0;
	  m_direction=0;
	  m_sensor=0;
	  m_swap=0;
	  m_input=4;
}

Cchannel::~Cchannel()
{

}

void Cchannel::Serialize(CArchive &ar)
{
  if(ar.IsLoading())
  {
	  ar >> m_channel;
	  ar >> m_rpm;
	  ar >> m_ppr;
	  ar >> m_gear;
 	  ar >> m_pitch;
	  ar >> m_highlimit;
	  ar >> m_lowlimit;
	  ar >> m_highoffset;
	  ar >> m_lowoffset;
	  ar >> m_gain;
	  ar >> m_pos;
	  ar >> m_command;
	  ar >> m_mode;
	  ar >> m_index;
	  ar >> m_highspd;
	  ar >> m_lowspd;
	  ar >> m_acc;
	  ar >> m_dec;
	  ar >> m_offset;
	  ar >> m_direction;
	  ar >> m_sensor;
	  ar >> m_swap;
	  ar >> m_input;
  }
  else
  {
	  ar << m_channel;
	  ar << m_rpm;
	  ar << m_ppr;
	  ar << m_gear;
 	  ar << m_pitch;
	  ar << m_highlimit;
	  ar << m_lowlimit;
	  ar << m_highoffset;
	  ar << m_lowoffset;
	  ar << m_gain;
	  ar << m_pos;
	  ar << m_command;
	  ar << m_mode;
	  ar << m_index;
	  ar << m_highspd;
	  ar << m_lowspd;
	  ar << m_acc;
	  ar << m_dec;
	  ar << m_offset;
	  ar << m_direction;
	  ar << m_sensor;
	  ar << m_swap;
	  ar << m_input;
  }
}