teach.h

机械手IPC控制器伺服运动程序

// teach.h: interface for the Cteach class.
//
//////////////////////////////////////////////////////////////////////
typedef struct{
	double x;
	double z;
}line;
typedef struct{
	int nx;        // X #
	int ny;
	int nz;
	double dx;     // X Pitch
	double dy;
	double dz;
}stack;
typedef union{
	line mline;    // Line Move
	int spdm;      // Speed
	BYTE mout;     // 1-64 Outon/off
	BYTE min;      // 1-64
	float dinon;   // Vac./Hold Delay
	float dinoff;  // Put Delay
	float  mdelay; // Delay Time(G04)
    stack stack1;
	stack stack2;
}mpara;
typedef union{
	line aline;    // Line Move
	int spds;      // Speed 
	BYTE aout;     // 1-64
	BYTE ain;      // 1-64
	float dnip;    // Clamp/Put Delay
	float sdelay;  // Delay Time(G04)
}apara;
typedef struct{
	int funid;
	apara para;
}asspara;  // Master Para.
typedef struct{
	int funid;
	mpara para;
}mainpara; // Slave Para.
typedef struct{
	int funid;
	int speed_across;
	double y;
	BYTE pinput;
	BYTE poutput;
}publicpara;
typedef struct{
	mainpara mcommand;
	asspara acommand;
	publicpara pubpara;
	BOOL fpublic;
	BOOL fspec;
}que;

#if !defined(AFX_TEACH_H__6DB5C0FA_D3CA_42A8_AA89_001D09156545__INCLUDED_)
#define AFX_TEACH_H__6DB5C0FA_D3CA_42A8_AA89_001D09156545__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

class Cteach : public CObject
{
	DECLARE_SERIAL(Cteach)
public:
	Cteach();
	virtual ~Cteach();
public:
	void SetQueueLength(int nlength);
	int GetQueueLength();
	int length;
	virtual void Serialize(CArchive &ar);
	CString m_num;
	que queuecommand[1024];
	double wait_mx;// Master X Wait Position
	double wait_mz;
	double wait_sx;
	double wait_sz;
	double wait_y;
};

#endif // !defined(AFX_TEACH_H__6DB5C0FA_D3CA_42A8_AA89_001D09156545__INCLUDED_)