beihangdlg.cpp

基于固高运动控制卡的二轴步进电机控制软件

	arrButton.Add(IDCANCEL);
	arrButton.Add(IDC_SSTAB_SCAN);
	return true;
}

BEGIN_EVENTSINK_MAP(CBeihangDlg, CDialog)
    //{{AFX_EVENTSINK_MAP(CBeihangDlg)
//	ON_EVENT(CBeihangDlg, IDC_SSTAB_SCAN, -605 /* MouseDown */, OnMsDwSstab, VTS_I2 VTS_I2 VTS_I4 VTS_I4)
	//}}AFX_EVENTSINK_MAP
END_EVENTSINK_MAP()


/***************************************************************************/
/*函数名称：OnMsDwSstab                                                    */
/*函数功能：确定“Jog控制及Z轴连续运动”和“2轴扫查序列”选项切换          */
/*参数说明：Button——确定哪个鼠标键动作。                                 */
/*          X——鼠标在屏幕上单击位置的X坐标。                             */
/*          Y——鼠标在屏幕上单击位置的Y坐标。                             */
/*开发人员：陈利民                                                         */ 
/*开发日期：2006-01-20                                                     */ 
/***************************************************************************/
/*void CBeihangDlg::OnMsDwSstab(short Button, short Shift, long X, long Y) 
{
	// TODO: Add your control notification handler code here

	if (X>0 && X<=160 && Y>0 && Y<20)
	{
		VisSwitch(0, true);
	}
	else if (X>160 && X<324 && Y>0 && Y<20)
	{
		VisSwitch(1,TRUE);
	}
}
*/

/***************************************************************************/
/*函数名称：VisSwitch                                                      */
/*函数功能：确定“Jog控制及Z轴连续运动”和“2轴扫查序列”的控件可见        */
/*参数说明：nTab——哪个选项卡被选中。                                     */
/*          nTab0——选中“Jog控制及Z轴连续运动”。                        */
/*          nTab1——2轴扫查序列。                                         */
/*          status——未分配功能                                           */
/*开发人员：陈利民                                                         */ 
/*开发日期：2006-01-20                                                     */ 
/***************************************************************************/
bool CBeihangDlg::VisSwitch(int nTab, bool status)
{
	int nIndex, nCtls;
	if (nTab==0)
	{
		CWnd * pWnd;
		for (nIndex=0; nIndex<33; nIndex++)
		{
			nCtls=arrButton[nIndex];
			pWnd=GetDlgItem(nCtls);
			if(pWnd!=NULL)
			pWnd->ShowWindow(1);
		}
		for (nIndex=33; nIndex<62; nIndex++)
		{
			nCtls=arrButton[nIndex];
			pWnd=GetDlgItem(nCtls);
			if(pWnd!=NULL)
			pWnd->ShowWindow(0);
		}
	}
	else if(nTab==1)
	{
		CWnd * pWnd;
		for (nIndex=0; nIndex<33; nIndex++)
		{
			nCtls=arrButton[nIndex];
			pWnd=GetDlgItem(nCtls);
			if(pWnd!=NULL)
			pWnd->ShowWindow(0);
		}
		for (nIndex=33; nIndex<62; nIndex++)
		{
			nCtls=arrButton[nIndex];
			pWnd=GetDlgItem(nCtls);
			if(pWnd!=NULL)
			pWnd->ShowWindow(1);
			if(nIndex==51||nIndex==54)
				pWnd->EnableWindow(0);
		}
	}
	else
	{
		return false;
	}
	return true;
}

void CBeihangDlg::OnButtonRGoto() 
{
	// TODO: Add your control notification handler code here
	// TODO: Add your control notification handler code here
	bBreak=0;
	runinfocnt=0;
	short rtn;
	int period=200;
	int ISR_Sta=0;
	unsigned short lmtvolt=255;
	unsigned int sense=0xF;
	int total_axes=2; 
	int Pulse_mode=2;
	int cur_axis=2;
	bool axis_sta=true;
	rtn=DLL_Full_Initial(period, ISR_Sta, lmtvolt, sense, total_axes, Pulse_mode);
	GT_Axis(2);
	
	
	/*根据复选框的选项判断是否使能驱动器                      */	
	
	int m_nSpeedl=m_ctlCM_R_SPEED.GetCurSel();
	double  m_dblAxisSpeed=arrSpeed[m_nSpeedl] * 60;
	axis_sta=true;
	rtn=DLL_Axis_OnOff(2,  axis_sta);
	UpdateData(TRUE);
	if(m_dblRObjPos+m_dblRCurPos>=-360&&m_dblRObjPos+m_dblRCurPos<=360)
	{	curaxis=2;
		curspeed=m_dblAxisSpeed;
		rtn=DLL_R_Run(m_dblAxisSpeed,360,0,10,5000,200);
		if(zerosit==-1)
	{
	 m_dblRObjPos=-m_dblRCurPos;
	}
		rtn=params.axisRrun(m_dblAxisSpeed,m_dblRObjPos);
		m_dblRCurPos+=m_dblRObjPos;
		UpdateData(0);
		pv->draw();
	}
	else
	{
		CWnd* pwnd=this->GetDlgItem(IDC_EDIT_R_OBJPOS);
		pwnd->SetWindowText("0");
	}

	
}



void CBeihangDlg::OnButtonRPause() 
{
	// TODO: Add your control notification handler code here
	unsigned short Curren_Axis=2,Status;
	short rtn=GT_GetSts(&Status);
	if(!(Status&1))
	{if(!DLL_SngAxis_eStop(Curren_Axis))
		{AfxMessageBox("R轴停车失败");
		}
		else
		{
		GetSystemTime(&t2);
		ltime=(t2.wDay-t1.wDay)*3600*24+(t2.wHour-t1.wHour)*3600+\
			(t2.wMinute-t1.wMinute)*60+t2.wSecond-t1.wSecond\
			+(t2.wMilliseconds-t1.wMilliseconds)/1000.0;
		m_dblRCurPos-=m_dblRObjPos;
		m_dblRCurPos+=((int)(curspeed*ltime*10))/10.;
	//	m_dblRCurPos+=params.atlrpos();
		m_dblRObjPos=0;
		curspeed=0;
		UpdateData(0);
		}
	}
}

void CBeihangDlg::OnBtnZGoto() 
{	bBreak=0;
	runinfocnt=0;
	// TODO: Add your control notification handler code here
	short rtn;
	int period=200;
	int ISR_Sta=0;
	unsigned short lmtvolt=255;
	unsigned int sense=0xF;
	int total_axes=2; 
	int Pulse_mode=2;
	int cur_axis=1;
	bool axis_sta=true;

	rtn=DLL_Full_Initial(period, ISR_Sta, lmtvolt, sense, total_axes, Pulse_mode);
	int m_nSpeedNo=m_ctlCM_Z_SPEED.GetCurSel();
double 	m_dblAxisSpeed=arrSpeed[m_nSpeedNo] * 20;
	double m_dblTimeAlfa=m_nSpeedNo*0.3;
	axis_sta=true;
	rtn=DLL_Axis_OnOff(cur_axis,  axis_sta);
	UpdateData(TRUE);
	curspeed=m_dblAxisSpeed;
	curaxis=1;
	rtn=DLL_Z_Run(m_dblAxisSpeed,10,0,/*m_ZObjPos*50/56.2*/1,5000,200);
	if(zerosit==-1)
	{
		m_ZObjPos=-m_dblZCurPos;
		m_dblAxisSpeed=-m_dblAxisSpeed;
	}
//	rtn=GT_CaptProb();
	rtn=params.axisZrun(m_dblAxisSpeed,m_ZObjPos);
	etime=abs(m_ZObjPos/m_dblAxisSpeed)+3;
	m_dblZCurPos+=m_ZObjPos;
	UpdateData(0);
//	long stime,ctime;
//	time(&stime);
//	ctime=stime;
//	while(ctime<=stime+etime)
	//	time(&ctime);
//	int c=runinfocnt;
	//GT_Axis(1);
	//GT_GetAtlPos(&stime);
	pv->draw();
}

void CBeihangDlg::OnTimer(UINT nIDEvent) 
{
// TODO: Add your message handler code here and/or call default	
/**************************************************************************/
/*以下为Z轴连续运动控制代码——1号定时器                                  */
/**************************************************************************/
	if (nIDEvent==1)
	{
		UpdateData(TRUE);//变量初始化
		short rtn;
		int period=200;
		int ISR_Sta=0;
		unsigned short lmtvolt=255;
		unsigned int sense=0xF;
		int total_axes=2; 
		int Pulse_mode=2;
		int cur_axis=1;
		bool axis_sta=true;
		static int time_start;
		double m_dblTimeAlfa=(m_dblZSpeedCon/15)+1 ;
		double m_nTime=fabs(m_dblZEnd)/m_dblZSpeedCon;
		int time_temp=time(&ltime);

		if (m_dblZSpeedCon>50 || m_dblZSpeedCon<0)
		{
			KillTimer(1);
			MessageBox("速度超限");
			goto End;
		}
		if (m_dblStart<=0)
		{
			KillTimer(1);
			goto End;
		}

		if (m_nZConTimes==0)//本次操作的首次运动
		{
			m_dblZEndCon=m_dblZEnd;
			rtn=DLL_Full_Initial(period, ISR_Sta, lmtvolt, sense, total_axes, Pulse_mode);
			axis_sta=true;
			rtn=DLL_Axis_OnOff(1,  axis_sta);
			time_start=time(&ltime);
			curspeed=m_dblZSpeedCon;
			curaxis=1;
			rtn=DLL_Z_Run(m_dblZSpeedCon,10,0,1,5000,200);
			rtn=params.axisZrun(m_dblZSpeedCon,m_dblZEndCon);
			m_dblZCurPos+=m_dblZEndCon;
			UpdateData(0);
			m_nZConTimes++;
		}
		
		if ((double)(time_temp-time_start)<(m_nTime+m_dblTimeAlfa))
		{
			goto End;//运动未完成，跳出本次执行
		}			
		else//本次运动完成，执行后面操作 
		{			
			if (m_nZConTimes>=(int)m_dblStart*2)//全部运动完成，结束运行，关闭定时器
			{
				flag=1;
				m_nZConTimes=0;
				KillTimer(1);
				static char pinfo[]="运动成功完成,Z轴扫描运动";
				runinfo[runinfocnt++]=pinfo;
				pv->draw();
				goto End;
			}

			//运动没有全部完成，继续下次运动操作
			m_dblZEndCon=-1 * m_dblZEndCon;
			rtn=DLL_Full_Initial(period, ISR_Sta, lmtvolt, sense, total_axes, Pulse_mode);
			axis_sta=true;
			rtn=DLL_Axis_OnOff(1,  axis_sta);
			curaxis=1;
			curspeed=m_dblZSpeedCon;
			rtn=DLL_Z_Run(m_dblZSpeedCon,10,0,1,5000,200);
			rtn=params.axisZrun(m_dblZSpeedCon,m_dblZEndCon);
			m_dblZCurPos+=m_dblZEndCon;
			UpdateData(0);
			time_start=time(&ltime);
			m_nZConTimes++;
		}
		End:
		int test=1;
	}
/**************************************************************************/
/*以下为两轴连续运动控制代码——2号定时器                                 */
/**************************************************************************/
	if (nIDEvent==2)
	{	BOOL bFirstR=1;
		UpdateData(TRUE);
		m_dblConRStart=m_dblRCurPos;
		m_dblConZStart=m_dblZCurPos;
		UpdateData(0);
		short rtn;
		int period=200;
		int ISR_Sta=0;
		unsigned short lmtvolt=255;
		unsigned int sense=0xF;
		int total_axes=2; 
		int Pulse_mode=2;
		int cur_axis=1;
		bool axis_sta=true;
		double m_dblZStepScan=m_dblConZStep;
		double m_dblConRDis=m_dblConRDistance;
		double m_dblTimeAlfa=(m_dblConZSpeed/15);
		double m_nTime=fabs(m_dblConZStart)/m_dblConZSpeed;
		static int time_start=time( &ltime );
		int time_temp;
		double m_dblZEndCon=m_dblConRDistance;
		double m_dblNextRPos=nArrAxisR.GetAt(m_nTwoConTimes+1);
		double m_dblNextZPos=nArrAxisZ.GetAt(m_nTwoConTimes+1);
		
		GT_Axis(2);
		unsigned short status;
		GT_GetSts(&status);

		/*if ((status & 0x5)==1 && m_nTwoConTimes>0)
		{
			MessageBox("2轴限位报警！","2轴扫查",MB_OK);
			KillTimer(2);
			goto End2;
		}*/
		//if (!status&0x6)
			//MessageBox("2轴反向限位报警！","2轴扫查",MB_OK);*/
		
		/*判断最大速度是否超限*/
		if (m_dblConRSpeed>60 || m_dblConRSpeed<0)
		{
			KillTimer(2);
			MessageBox("R速度超限");
			goto End2;
		}
		if (m_dblConZSpeed>16 || m_dblConZSpeed<0)
		{
			KillTimer(2);
			MessageBox("Z速度超限");
			goto End2;
		}
		if (m_nTwoConTimes==1)
		{
			cur_axis=1;
		}
		/*R轴单轴运动到位*/
		if (RFinFlag==0)
		{
			if (RRunFlag==0)
			{
				time_start=time( &ltime );
				rtn=DLL_Full_Initial(period, ISR_Sta, lmtvolt, sense, total_axes, Pulse_mode);
				axis_sta=true;
				rtn=DLL_Axis_OnOff(2,  axis_sta);
				curaxis=2;
				curspeed=m_dblConRSpeed;
				curspeedr=m_dblConRSpeed;
				rtn=DLL_R_Run(m_dblConRSpeed,360,0,10,5000,200);
				rtn=params.axisRrun(m_dblConRSpeed,m_dblNextRPos*(1+360/120.0));
				RRunFlag=1;
				goto End2;
			}
			if (RRunFlag==1)
			{
				m_dblTimeAlfa=(m_dblConRSpeed/15);
				m_nTime=fabs(m_dblConRDistance)/m_dblConRSpeed;
				time_temp=time( &ltime );
				//+m_dblTimeAlfa
				if ((double)(time_temp-time_start)<m_nTime+1)
					{
					goto End2;//运动未完成，跳出本次执行
					}
				else
					{
					RFinFlag=1;
					RRunFlag=0;
					ZFinFlag=0;
					ZRunFlag=0;
					m_dblRCurPos+=m_dblNextRPos;
					UpdateData(0);
					}
				
			}
		}
	/*Z轴单轴运动到位*/
		if (ZFinFlag==0)
		{
			if (ZRunFlag==0)
			{
				time_start=time( &ltime );
				rtn=DLL_Full_Initial(period, ISR_Sta, lmtvolt, sense, total_axes, Pulse_mode);
				axis_sta=true;
				rtn=DLL_Axis_OnOff(1,  axis_sta);
				curspeed=m_dblConZSpeed;
				curaxis=1;
				rtn=DLL_Z_Run(m_dblConZSpeed,10,0,1,5000,200);
				rtn=params.axisZrun(m_dblConZSpeed,m_dblNextZPos);
				ZRunFlag=1;
			}
			if (ZRunFlag==1)
			{
				time_temp=time( &ltime );
				//+m_dblTimeAlfa
				if (m_nTwoConTimes==0)
				{
					m_nTime=fabs(m_dblConZStart)/m_dblConZSpeed;
				}else{
					m_nTime=fabs(m_dblConZStep)/m_dblConZSpeed;
				}
				if ((double)(time_temp-time_start)<(m_nTime+1))
				{
					goto End2;//运动未完成，跳出本次执行
				}
				else
				{
					ZFinFlag=1;
					ZRunFlag=0;
					RFinFlag=0;
					RRunFlag=0;
					m_dblConZStart+=m_dblConZStep;
					m_dblZCurPos=m_dblConZStart;
					UpdateData(0);
				}
			}
		}
		m_nTwoConTimes++;
		if (m_nTwoConTimes>=m_nTwoNo-1)
		{
			KillTimer(2);
			m_nTwoConTimes=0;
			static char f[]="运动成功完Z轴、R轴协同扫描运动";
			runinfo[runinfocnt++]=f;
			pv->draw();

		}
End2:
		tasknum=0;
	}

/**************************************************************************/
/*以下中断事件监测代码代码——3号定时器                                   */
/**************************************************************************/
/*if (nIDEvent==3)
{
	
	GT_Axis(1);
	unsigned short status;
	GT_GetSts(&status);
	if(status&0x20)
	{
		MessageBox("5","Test",MB_OK);
	}
}*/