demo01dlg.cpp

pci卡控制的演示程序,可用于运行简单的轨迹,用户可在此基础上熟悉控制卡操作.

// Demo01Dlg.cpp : implementation file
//

#include "stdafx.h"
#include "Demo01.h"
#include "Demo01Dlg.h"
# include	"dmc3000.h"		//必须增加的库头文件
/********************************************
	雷赛DMC3000控制卡编程示例之一

?-主要演示功能:
		No.1 控制卡的基本操作
		No.2 了解匀速/S形/T形运行速度曲线
		No.3 停止控制方式(指令停止,外部输入信号停止)
		No.4 多轴联动的实现
		No.5 持续运动实现
		No.6 对称/非对称的简单调配
		No.7 了解逻辑方向对设备的物理位置与显示位置关系的影响
		No.8 邦定该轴的状态显示及位置查询实现
!-关键函数:
		控制卡
			d3000_board_init
			d3000_board_close
			d3000_get_base_addr
			d3000_get_irq_channel
		速度-匀速
			当T形驱动函数邦定的起始速度与运行速度相等时,为匀速,不相等为T形速度
			S形函数函数实现匀速效果同T形原理一致
			d3000_start_t_move
			d3000_start_s_move
		停止控制
			d3000_decel_stop
			外部信号输入可参见硬件折册
		多轴联动
			实质是同时启动多个单轴的表现,不管是在点动定位或持续运行的需求下
			for( int i(0); i<anyAxis; i++)
				d3000_start_t_move(i, ... )//点动定位
				d3000_start_tv_move(i,... )//持续运行
		持续运行
			d3000_start_tv_move  T形持续
			d3000_start_rv_move  S形持续
			当使用持续驱动时，可使用外部输入信号停止

		对称或非对称
			当T形驱动函数邦定的加速时间或减速时间不一致时,为非对称速度曲线,相等则为
			对称速度曲线

		逻辑方向
			此方向的变化,会导致显示的位置变化正常,但物理设备的运动方向发生反向,此种发明
			即成本低,功效会很大
			d3000_set_pls_outmode

		指定轴的状态查询及位置显示
			d3000_motion_done		//输入信号读取
			d3000_get_command_pos	//指令位置获取

#-注意事项:
		No.1 为了体验控制卡编程之乐趣,最好按手册连接好物理设备(驱动器,电机),这样学起来
			 会比较有成就感.
		No.2 程序结束时,必须调用d3000_board_close释放占有的系统资源,初始化失败除外,此
			 事项，在所有DMC系列的控制卡编程当中都适用，且必须使用。
		No.3 S形函数驱动需要注意，其加加速度值不能不比总加速时间大,道理不言自明。

	Writen by LEISAI-SUPPORT
	FAX: 0755 - 26402718
	TEL: 0755 - 26434329
	EMAIL: [e-mail]
	HTTP: www.leisai.com	
********************************************/
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif

/////////////////////////////////////////////////////////////////////////////
// CDemo01Dlg dialog

CDemo01Dlg::CDemo01Dlg(CWnd* pParent /*=NULL*/)
	: CDialog(CDemo01Dlg::IDD, pParent)
{
	//{{AFX_DATA_INIT(CDemo01Dlg)
	m_nSpeedST	= 0;
	m_nActionST = 0;
	m_nAxis		= 0;
	m_bSymmetry = FALSE;
	m_bLogic = TRUE;
	m_nPulse = 6400;
	m_nStart = 1600;
	m_nSpeed = 3200;
	m_fAccel = 0.1;
	m_fDecel = 0.1;
	m_fEff = 0.01;
	//}}AFX_DATA_INIT
	// Note that LoadIcon does not require a subsequent DestroyIcon in Win32
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}

void CDemo01Dlg::DoDataExchange(CDataExchange* pDX)
{
	CDialog::DoDataExchange(pDX);
	//{{AFX_DATA_MAP(CDemo01Dlg)
	DDX_Radio(pDX, IDC_RADIO_SPEEDST, m_nSpeedST);
	DDX_Radio(pDX, IDC_RADIO_ACTIONST, m_nActionST);
	DDX_Radio(pDX, IDC_RADIO_AXIS, m_nAxis);
	DDX_Check(pDX, IDC_CHECK_SYMMETRY, m_bSymmetry);
	DDX_Check(pDX, IDC_CHECK_LOGIC, m_bLogic);
	DDX_Text(pDX, IDC_EDIT_PULSE, m_nPulse);
	DDX_Text(pDX, IDC_EDIT_START, m_nStart);
	DDX_Text(pDX, IDC_EDIT_SPEED, m_nSpeed);
	DDX_Text(pDX, IDC_EDIT_ACCEL, m_fAccel);
	DDX_Text(pDX, IDC_EDIT_DECEL, m_fDecel);
	DDX_Text(pDX, IDC_EDIT_SEFF, m_fEff);
	//}}AFX_DATA_MAP
}

BEGIN_MESSAGE_MAP(CDemo01Dlg, CDialog)
	//{{AFX_MSG_MAP(CDemo01Dlg)
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_WM_CLOSE()
	ON_WM_DESTROY()
	ON_WM_TIMER()
	ON_BN_CLICKED(IDC_BUTTON_EMGSTOP, OnButtonEmgstop)
	ON_BN_CLICKED(IDC_CHECK_LOGIC, OnCheckLogic)
	ON_BN_CLICKED(IDC_CHECK_SYMMETRY, OnCheckSymmetry)
	ON_BN_CLICKED(IDC_RADIO_TS, OnRadioTs)
	ON_BN_CLICKED(IDC_RADIO_SS, OnRadioSs)
	ON_BN_CLICKED(IDC_RADIO_SPEEDST, OnRadioSpeedst)
	ON_BN_CLICKED(IDC_BUTTON_DECSTOP, OnButtonDecstop)
	ON_BN_CLICKED(IDC_RADIO_ACTIONST, OnRadioActionst)
	ON_BN_CLICKED(IDC_RADIO_CMOVE, OnRadioCmove)
	//}}AFX_MSG_MAP
END_MESSAGE_MAP()

/////////////////////////////////////////////////////////////////////////////
// CDemo01Dlg message handlers

BOOL CDemo01Dlg::OnInitDialog()
{

	CDialog::OnInitDialog();

	// Set the icon for this dialog.  The framework does this automatically
	//  when the application's main window is not a dialog
	SetIcon(m_hIcon, TRUE);			// Set big icon
	SetIcon(m_hIcon, FALSE);		// Set small icon
	
	if( d3000_board_init() <= 0 ){//控制卡的初始化操作
		MessageBox("初始化DMC3000卡失败！","出错");
//		return TRUE;
	}

	CString string;
	//以下显示地址及中断申请号
	DWORD nAddress,nChannel;
	nAddress = d3000_get_base_addr();
	nChannel = d3000_get_irq_channel();

	string.Format("0x%04x", nAddress );
	GetDlgItem( IDC_EDIT_ADDR )->SetWindowText( string );
	string.Format("0x%04x", nChannel );
	GetDlgItem( IDC_EDIT_CHANNEL )->SetWindowText( string );
	//////////////////////////////
	UpdateControl();

	SetTimer( IDC_TIMER, 100, NULL );

	return TRUE;  // return TRUE  unless you set the focus to a control
}

// If you add a minimize button to your dialog, you will need the code below
//  to draw the icon.  For MFC applications using the document/view model,
//  this is automatically done for you by the framework.

void CDemo01Dlg::OnPaint() 
{
	if (IsIconic())
	{
		CPaintDC dc(this); // device context for painting

		SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0);

		// Center icon in client rectangle
		int cxIcon = GetSystemMetrics(SM_CXICON);
		int cyIcon = GetSystemMetrics(SM_CYICON);
		CRect rect;
		GetClientRect(&rect);
		int x = (rect.Width() - cxIcon + 1) / 2;
		int y = (rect.Height() - cyIcon + 1) / 2;

		// Draw the icon
		dc.DrawIcon(x, y, m_hIcon);
	}
	else
	{
		CDialog::OnPaint();
	}
}

// The system calls this to obtain the cursor to display while the user drags
//  the minimized window.
HCURSOR CDemo01Dlg::OnQueryDragIcon()
{
	return (HCURSOR) m_hIcon;
}

void CDemo01Dlg::OnClose() 
{
	
	CDialog::OnClose();
}

void CDemo01Dlg::OnDestroy() 
{
	d3000_board_close();	//非常之重要，释放其占用的系统资源
	KillTimer( IDC_TIMER );
	CDialog::OnDestroy();
	
	
}

void CDemo01Dlg::OnTimer(UINT nIDEvent) 
{
	CString string;
	long position = d3000_get_command( m_nAxis );
	string.Format("当前位置：%ld", position );
	GetDlgItem( IDC_STATIC_POSITION )->SetWindowText( string );

	DWORD status = d3000_check_done( m_nAxis );
	string.Format("状态值：0x%04x", status );
	GetDlgItem( IDC_STATIC_STATUS )->SetWindowText( string );

	CDialog::OnTimer(nIDEvent);
}

void CDemo01Dlg::OnCancel() 
{
	CDialog::OnCancel();
}

void CDemo01Dlg::OnButtonEmgstop() 
{
	for( int i(0); i<4; i++){//全部急停
		d3000_emg_stop( i );
	}
}

void CDemo01Dlg::OnOK() 
{
	try{
		if( !UpdateData(true) )
			throw "";
	}
	catch( char * ){
		return;
	}
	//////////////////////////
	if( (d3000_check_done( m_nAxis )&0x02) == 0x02) //已经在运动中
		return; 
	//设定脉冲模式及逻辑方向（此处脉冲模式固定为P+D方向：脉冲+方向）	
	d3000_set_pls_outmode( m_nAxis, m_bLogic?1:3);

	if( m_nActionST == 0 ){//点动
		//暂使用相对运动函数，若需要绝对，替换相对函数为绝对函数即可，其它可不变
		m_nSpeedST == 2 ?//S形驱动
			d3000_start_s_move( m_nAxis, m_nPulse, m_nStart, m_nSpeed, m_fAccel, m_fEff ):
			d3000_start_t_move( m_nAxis, m_nPulse, m_nStart, m_nSpeed, m_fAccel, m_fDecel);
			//T形加速，当起始速度与运动速度相等时，即为匀速
	}
	else{//持续驱动
		int dir = (m_nPulse > 0 ) ? 1 : -1;//以点动长度，即得运动方向
		m_nSpeedST == 2 ?//S形驱动
			d3000_start_sv_move( m_nAxis, m_nStart, m_nSpeed*dir, m_fAccel, m_fEff ):
			d3000_start_tv_move( m_nAxis, m_nStart, m_nSpeed*dir, m_fAccel);
	}

//	CDialog::OnOK();
}

void	CDemo01Dlg::UpdateControl()
{
	GetDlgItem( IDC_CHECK_LOGIC )->SetWindowText( m_bLogic?"逻辑方向：正":"逻辑方向：反");

	GetDlgItem( IDC_CHECK_SYMMETRY )->EnableWindow( m_nSpeedST == 1 );//仅支持T形
	GetDlgItem( IDC_CHECK_SYMMETRY )->SetWindowText( m_bSymmetry ?"非对称曲线":"对称曲线");

	GetDlgItem( IDC_EDIT_SEFF )->EnableWindow( m_nSpeedST == 2 );
//	GetDlgItem( IDC_EDIT_PULSE )->EnableWindow( m_nActionST == 0 );
}

void CDemo01Dlg::OnCheckLogic() 
{//逻辑正反
	UpdateData( TRUE );
	UpdateControl();
	
}

void CDemo01Dlg::OnCheckSymmetry() 
{//对称或对称
	UpdateData( true );
	m_fDecel = m_fAccel;//对称，则加速时间及减速时间相等
	if( m_bSymmetry )
		m_fDecel += m_fAccel;//非对称，自动设定减速时间为加速时间两倍
	UpdateData( FALSE );
	UpdateControl();
	
}

void CDemo01Dlg::OnRadioTs() 
{//T形速度
	UpdateData( true );
    if( m_nSpeed == m_nStart ){//自动产生不同速度
		m_nSpeed = m_nStart+m_nStart;
		UpdateData( FALSE );
	}
	UpdateControl();
	
}

void CDemo01Dlg::OnRadioSs() 
{//S形速度
	UpdateData( true );
    if( m_nSpeed == m_nStart ){//自动产生不同速度
		m_nSpeed = m_nStart+m_nStart;
		UpdateData( FALSE );
	}
	UpdateControl();
	
}

void CDemo01Dlg::OnRadioSpeedst() 
{//匀速
	UpdateData( true );
	m_nSpeed = m_nStart;//速度相等
	UpdateData( FALSE );
	UpdateControl();
	
}

void CDemo01Dlg::OnButtonDecstop() 
{//减速停
	d3000_decel_stop( m_nAxis, m_fDecel );	
	
}

void CDemo01Dlg::OnRadioActionst() 
{
	UpdateData( true );
	UpdateControl();
}

void CDemo01Dlg::OnRadioCmove() 
{
	UpdateData( true );
	UpdateControl();
	
}