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鈼� 鍧愭浣嶇Щ
鍏紡锛歑2 = X1 + 螖X
Y2 = Y1 + 螖Y
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鍦�1 鍧愭浣嶇Щ绀烘剰鍦� [/align]
鈼� 鍧愭鏃嬭綁
锛�1锛夊皣锛圶1,Y1锛夎綁鎻涙垚妤靛潗妯欌啋 锛圶1,Y1锛� = 锛圧1,胃1锛�
鍏朵腑锛孯1 = 鈭歑12 + Y12
胃1 = arctan锛� Y1 / X1 锛�锛屽嵆鍙嶆鍒囧嚱鏁�(sh霉)
锛�2锛壩�2 = 胃1 + 胃锛屽叾涓�锛屛�= 琛ㄧず鏃嬭綁瑙掑害
寰楀嚭 X2 = Cos 锛埼�2锛� 锛� R1
= Cos 锛坅rctan锛圷1/X1锛�+胃锛� 锛�
鈭歑12 + Y12
Y2 = Sin锛埼�2锛� 锛� R1
= Sin锛坅rctan锛圷1/X1锛�+胃锛� 锛� 鈭歑12 + Y12
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鍦�2 鍧愭鏃嬭綁鐨勭ず鎰忓湒 [/align]
鈼� 鍧愭浣嶇Щ+鏃嬭綁
閬囧埌鍚屾檪鐧�(f膩)鐢熷潗妯欎綅绉诲拰鏃嬭綁鏅�锛屽厛瑷堢畻浣嶇Щ锛屽啀濂楃敤鏃嬭綁鐨勫叕寮�锛屽嵆鍙畻鍑烘渶鍚庣殑绲愭灉銆�
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瀹屾暣鐨勫闅涚郴绲�(t菕ng)濡傚湒3鎵€绀�銆�
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鍦�3 绯荤当(t菕ng)鏋舵瀵︽鍦� [/align]
绯荤当(t菕ng)鏍℃
鈼� Mitsubishi椹呭嫊鍣ㄨ(di脿o)鏍★細10 000 pulse/roll锛屽嵆閬嬪嫊鎺у埗鍗¢€佸嚭10 000鍊嬭剤娉�锛岄Μ閬旀渻杞変竴鍦�銆�
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鏁欏皫浣滄キ(y猫)
鈼� 鍟熷嫊绯荤当(t菕ng)3杌稿洖鍒板垵濮嬩綅缃�锛屽緟3杌稿洖瀹氫綅鍚庯紝鍐嶇敱浜哄伐灏囧伐浠剁疆浜�3杌镐箣瀹氫綅骞宠嚭涓婂苟浣溾€滃垵姝ュ畾浣嶁€�锛�
鈼� 鎵嬪嫊鎺у埗Z杌哥珐鎱笅闄�锛屼娇鍏舵帴杩戝畾浣嶅钩鑷轰笂鏂癸紙绱�0.5锝�1.0mm锛�锛�
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鍦�4 鍦栧儚铏曠悊杌熸祦绋嬪湒[/align]
鑷嫊瀹氫綅
鈼� 鐢变汉宸ュ皣宸ヤ欢缃簬3杌稿畾浣嶅钩鑷轰笂锛屼綔鈥滃垵姝ュ畾浣嶁€濆悗骞跺暉鍕曟湰绯荤当(t菕ng)锛�
鈼� 绯荤当(t菕ng)鏈冮﹨鍕�3杌稿畾浣嶅钩鑷哄皣CCD绉昏嚦瀹氫綅榛炰笂鏂癸紙2鍊嬩笉鍚屼綅缃級锛屽彇鍍忓苟鍒╃敤宸测€滄暀灏庘€濈殑妯欐簴褰卞儚鍋氣€滃奖鍍忔瘮灏嶁€濅綔妤�(y猫)锛�
鈼� 瑷堢畻鍑衡€滃垵姝ュ畾浣嶁€濈殑鍋忕Щ閲忥紙Shift X/Y锛夊強鏃嬭綁瑙掑害 锛圧otation Angle锛�锛�
tx = GoldeXY[CCD_Find][1] - m_Find.GetCenterX锛堬級;
ty = GoldeXY[CCD_Find][0] - m_Find.GetCenterY锛堬級;
if 锛圕CD_Find==0锛� 锝� //绗竴娆″畾浣�
shiftx = ZeroX - tx锛奀alibration;
shifty = CCD_Y - ty锛奀alibration;
锝� else 锝� //绗簩娆″畾浣�
dx = CCD_Locate[1][0] - tx锛奀alibration;
dy = CCD_Y - ty锛奀alibration;
angle = atan2锛� dy - shifty, shiftx-dx锛�;
CalNewLocate锛坅ngle, shiftx, shifty锛�;
锝�
鈼� 閫氶亷鈥滄サ鍧愭杞夋彌鈥�锛岄噸鏂拌▓绠楀伐浠朵笂鎵€鏈夊瓟浣嶇殑鏂板潗妯欙紙Point Table锛�銆�
void CalNewLocate锛團64 angle, F64 shiftx, F64 shifty锛�
锝�
int i;
F64 P[TOTAL_POINT锛�2];
F64 t;
for 锛坕=0; i
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