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銆€銆€//澶氳桓閬�(y霉n)鍕�(d貌ng)

銆€銆€  intaxislist[  4] = {   0,  1,  2,  3 };                                              //閬�(y霉n)鍕�(d貌ng)BASE杌稿垪琛�

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銆€銆€// 鐩搁棞(gu膩n)鍑芥暩(sh霉)

銆€銆€ZAux_OpenEth(IP_buffer, &g_handle);                                            //閫ｆ帴鎺у埗鍣�

銆€銆€ZAux_Direct_GetAllAxisPara(g_handle, "  DPOS", 4, showpos);        //鐛插彇鐣�(d膩ng)鍓嶈桓浣�

銆€銆€ZAux_Direct_GetAllAxisPara(g_handle, "  MSPEED", 4, mspeed);     //鏇存柊杌搁€熷害

銆€銆€ZAux_Direct_Single_Cancel(g_handle, 0, 2); //鍋滄涓昏桓閬�(y霉n)鍕�(d貌ng)

銆€銆€ZAux_Direct_Move(g_handle, 4, axislist, dislist1);                            //绗�1娈靛杌告彃瑁�(b菙)鎸囦护

銆€銆€ZAux_Direct_Move(g_handle, 4, axislist, dislist2);                            //绗�2娈靛杌告彃瑁�(b菙)鎸囦护

銆€銆€ZAux_Direct_Move(g_handle, 4, axislist, dislist3);                            //绗�3娈靛杌告彃瑁�(b菙)鎸囦护

銆€銆€ZAux_Close(g_handle);//鏂烽枊(k膩i)閫ｆ帴

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銆€銆€  voidCMergeDlg::OnBnClickedButtonLink()

銆€銆€{

銆€銆€      charbuffer[256];

銆€銆€    int32 iresult;

銆€銆€    //濡傛灉涔嬪墠鏈夐€ｆ帴鎺у埗鍣ㄨ憲鍏堟柗闁�(k膩i)閫ｆ帴

銆€    銆€  if(NULL != g_handle)

銆€銆€    {

銆€銆€    ZAux_Close(g_handle);

銆€    銆€g_handle = NULL;

銆€    銆€}

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銆€    銆€GetDlgItemText(IDC_COMBOX_IP, buffer, 255);

銆€銆€    buffer[255] = '\0';

銆€銆€    //閫氶亷(gu貌)PC鍑芥暩(sh霉)搴�(k霉)鎻愪緵鐨勯€ｆ帴鎺у埗鍣ㄧ殑鍑芥暩(sh霉)鎺ュ彛(API)锛岄€ｆ帴鎺у埗鍣�

銆€銆€    iresult = ZAux_OpenEth(buffer, &g_handle);

銆€    銆€  if(ERR_SUCCESS != iresult)

銆€銆€    {

銆€    銆€g_handle = NULL;

銆€    銆€MessageBox(_T("  閺堟帴澶辨晽"));

銆€    銆€SetWindowText("  鏈張鎺�");

銆€    銆€  return;

銆€銆€}

銆€銆€SetWindowText("  宸查張鎺�");

銆€銆€//鍟熷嫊(d貌ng)瀹氭檪(sh铆)鍣�

銆€銆€SetTimer(1, 100, NULL);

銆€銆€SetTimer(2, 100, NULL);

銆€銆€//鍒濆鍖栬桓鍙冩暩(sh霉)

銆€銆€  for(  inti = 0; i<4; i++)

銆€銆€{

銆€    銆€ZAux_Direct_SetAtype(g_handle, i, 1); //杌搁(l猫i)鍨�

銆€    銆€ZAux_Direct_SetUnits(g_handle, i, 1000); //鑴堟矕鐣�(d膩ng)閲�

銆€    銆€ZAux_Direct_SetSpeed(g_handle, i, 100); //閫熷害

銆€    銆€ZAux_Direct_SetAccel(g_handle, i, 1000); //鍔犻€熷害

銆€    銆€ZAux_Direct_SetDecel(g_handle, i, 1000); //娓涢€熷害

銆€銆€ZAux_Direct_SetSramp(g_handle, i, 100); //S鏇茬窔(xi脿n)鏅�(sh铆)闁�

銆€銆€    }

銆€銆€}

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銆€銆€void CMergeDlg::OnTimer(UINT_PTR nIDEvent)

銆€銆€{

銆€銆€    if (NULL == g_handle)

銆€    銆€{

銆€        銆€MessageBox(_T("  閺堟帴鏂烽枊(k膩i)"));

銆€        銆€return;

銆€    銆€}

銆€    銆€switch (nIDEvent)

銆€    銆€{

銆€    銆€case 1: //鏇存柊鎺у埗鍣ㄨ桓0-3鐨勪綅缃俊鎭拰閫熷害淇℃伅

銆€        銆€CString Xpos, Xmspeed;

銆€        銆€CString Ypos, Ymspeed;

銆€        銆€CString Zpos, Zmspeed;

銆€        銆€CString Upos, Umspeed;

銆€        銆€float showpos[4] = { 0 };

銆€        銆€float mspeed[4] = { 0 };

銆€銆€int         status = 0;

銆€銆€        //鐛插彇鐣�(d膩ng)鍓嶈桓浣嶇疆

銆€銆€        ZAux_Direct_GetAllAxisPara(g_handle, "  DPOS", 4, showpos);

銆€        銆€Xpos.Format("  X: %.2f", showpos[0]);

銆€銆€        Ypos.Format("  Y: %.2f", showpos[1]);

銆€        銆€Zpos.Format("  Z: %.2f", showpos[2]);

銆€        銆€Upos.Format("  U: %.2f", showpos[3]);

銆€        銆€GetDlgItem(IDC_XPOS)->SetWindowText(Xpos);

銆€        銆€GetDlgItem(IDC_YPOS)->SetWindowText(Ypos);

銆€銆€        GetDlgItem(IDC_ZPOS)->SetWindowText(Zpos);

銆€        銆€GetDlgItem(IDC_UPOS)->SetWindowText(Upos);

銆€銆€        //鍒ゆ柗涓昏桓鐙€鎱�(t脿i)(鍗矪ASE鐨勭涓€鍊�(g猫)杌�)

銆€        銆€ZAux_Direct_GetIfIdle(g_handle, 0, &status);

銆€        銆€if (status == -1)

銆€        銆€{

銆€            銆€GetDlgItem(IDC_RUNSTATUS)->SetWindowText("  閬�(y霉n)鍕�(d貌ng)鐙€鎱�(t脿i)锛氬仠姝腑");

銆€        銆€}

銆€銆€        else

銆€        銆€{

銆€            銆€GetDlgItem(IDC_RUNSTATUS)->SetWindowText("  閬�(y霉n)鍕�(d貌ng)鐙€鎱�(t脿i)锛氶亱(y霉n)鍕�(d貌ng)涓�");

銆€        銆€}

銆€        銆€//鏇存柊杌搁€熷害

銆€        銆€ZAux_Direct_GetAllAxisPara(g_handle, "  MSPEED", 4, mspeed);

銆€        銆€Xmspeed.Format("  X杌搁€熷害: %.2f", mspeed[0]);

銆€        銆€Ymspeed.Format("  Y杌搁€熷害: %.2f", mspeed[1]);

銆€        銆€Zmspeed.Format("  Z杌搁€熷害: %.2f", mspeed[2]);

銆€        銆€Umspeed.Format("  U杌搁€熷害: %.2f", mspeed[3]);

銆€        銆€GetDlgItem(IDC_SPEED_X)->SetWindowText(Xmspeed);

銆€        銆€GetDlgItem(IDC_SPEED_Y)->SetWindowText(Ymspeed);

銆€        銆€GetDlgItem(IDC_SPEED_Z)->SetWindowText(Zmspeed);

銆€銆€        GetDlgItem(IDC_SPEED_U)->SetWindowText(Umspeed);

銆€        銆€break;

銆€    銆€}

銆€    銆€CDialogEx::OnTimer(nIDEvent);

銆€銆€}

銆€銆€

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銆€銆€

銆€銆€//鍟熷嫊(d貌ng)鎸夐垥

銆€銆€void CMergeDlg::OnBnClickedButtonRun()

銆€銆€{

銆€    銆€if (NULL == g_handle)

銆€    銆€{

銆€銆€        MessageBox(_T(  "閺堟帴鏂烽枊(k膩i)"));

銆€        銆€return;

銆€    銆€}

銆€    銆€UpdateData(true);//鍒锋柊鍙冩暩(sh霉)

銆€    銆€int corner_mode = 0;

銆€銆€    int axislist[4] = { 0,1,2,3 }; //閬�(y霉n)鍕�(d貌ng)BASE杌稿垪琛�

銆€銆€    float dislist1[4] = { 0 }; //閬�(y霉n)鍕�(d貌ng)璺濋洟鍒楄〃

銆€銆€    float dislist2[4] = { 0 };

銆€銆€    float dislist3[4] = { 0 };

銆€銆€    //閬告搰鍙冭垏閬�(y霉n)鍕�(d貌ng)鐨勮桓锛岀涓€鍊�(g猫)杌哥偤涓昏桓锛屾彃瑁�(b菙)鍙冩暩(sh霉)鍏ㄧ敤涓昏桓鍙冩暩(sh霉)

銆€銆€    ZAux_Direct_SetSpeed(g_handle, axislist[0], M_Speed); //閫熷害

銆€    銆€ZAux_Direct_SetAccel(g_handle, axislist[0], M_Accel); //鍔犻€熷害

銆€    銆€ZAux_Direct_SetDecel(g_handle, axislist[0], M_Decel); //娓涢€熷害

銆€銆€ZAux_Direct_SetSramp(g_handle, axislist[0], M_SRAMP); //S鏇茬窔(xi脿n)鏅�(sh铆)闁�

銆€    銆€//瑷�(sh猫)缃嫄瑙掓ā寮�

銆€    銆€if (m_mode1 == 1)

銆€    銆€{

銆€銆€        corner_mode = corner_mode + 2;

銆€    銆€}

銆€    銆€if (m_mode2 == 1)

銆€銆€    {

銆€    銆€    corner_mode = corner_mode + 8;

銆€銆€    }

銆€    銆€if (m_mode3 == 1)

銆€    銆€{

銆€        銆€corner_mode = corner_mode + 32;

銆€銆€    }

    銆€銆€ZAux_Direct_SetCornerMode(g_handle, axislist[0], corner_mode);

銆€    銆€//瑷�(sh猫)缃€ｇ簩(x霉)鎻掕(b菙)

銆€    銆€ZAux_Direct_SetMerge(g_handle, axislist[0], m_mode);

銆€    銆€//瑷�(sh猫)缃甋P閫熷害

銆€    銆€ZAux_Direct_SetForceSpeed(g_handle, axislist[0], SP_Speed);

銆€    銆€//瑷�(sh猫)缃枊(k膩i)濮�.绲�(ji茅)鏉熸笡閫熻搴︼紝杞�(zhu菐n)鎻涚偤寮у害

銆€    銆€ZAux_Direct_SetDecelAngle(g_handle, axislist[0], StartAngle * 3.14 / 180);

銆€    銆€ZAux_Direct_SetStopAngle(g_handle, axislist[0], StopAngle * 3.14 / 180);

銆€    銆€//瑷�(sh猫)缃皬鍦撻檺閫熷崐寰�

銆€    銆€ZAux_Direct_SetFullSpRadius(g_handle, axislist[0], SP_Radius);

銆€銆€    //瑷�(sh猫)缃嫄瑙掑崐寰�

銆€    銆€ZAux_Direct_SetZsmooth(g_handle, axislist[0], CornerRadius);

銆€    銆€//SP鎸囦护涓嚜鍕�(d貌ng)鎷愯妯″紡涓ō(sh猫)缃竴鍊�(g猫)杓冨ぇ鐨剆tartmovespeed鑸噀ndmovespeed

銆€    銆€ZAux_Direct_SetStartMoveSpeed(g_handle, axislist[0], 10000);

銆€    銆€ZAux_Direct_SetEndMoveSpeed(g_handle, axislist[0], 10000);

銆€    銆€//鏇存柊閬�(y霉n)鍕�(d貌ng)鏁�(sh霉)鎿�(j霉)

銆€銆€    dislist1[0] = DPOS_X_1; dislist1[1] = DPOS_Y_1;

銆€    銆€dislist1[2] = DPOS_Z_1; dislist1[3] = DPOS_U_1;

銆€    銆€dislist2[0] = DPOS_X_2; dislist2[1] = DPOS_Y_2;

銆€    銆€dislist2[2] = DPOS_Z_2; dislist2[3] = DPOS_U_2;

銆€    銆€dislist3[0] = DPOS_X_3; dislist3[1] = DPOS_Y_3;

銆€    銆€dislist3[2] = DPOS_Z_3; dislist3[3] = DPOS_U_3;

銆€    銆€//闁�(k膩i)濮嬮亱(y霉n)鍕�(d貌ng)

銆€    銆€ZAux_Direct_Move(g_handle, 4, axislist, dislist1);

銆€    銆€ZAux_Direct_Move(g_handle, 4, axislist, dislist2);

銆€    銆€ZAux_Direct_Move(g_handle, 4, axislist, dislist3);

銆€銆€}

銆€銆€

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銆€銆€

銆€銆€//鍋滄鎸夐垥

銆€銆€void CMergeDlg::OnBnClickedButtonStop()

銆€銆€{

銆€    銆€if (NULL == g_handle)

銆€    銆€{

銆€銆€        MessageBox(_T("閺堟帴鏂烽枊(k膩i)"));

銆€        銆€return;

銆€    銆€}

銆€銆€    ZAux_Direct_Single_Cancel(g_handle, 0, 2); //鍋滄涓昏桓 BASE鐨勪竴鍊�(g猫)杌�

銆€銆€}

銆€銆€

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銆€銆€

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銆€銆€void CMergeDlg::OnBnClickedButtonClear()

銆€銆€{

銆€銆€    if (NULL == g_handle)

銆€    銆€{

銆€        銆€MessageBox(_T("閺堟帴鏂烽枊(k膩i)"));

銆€銆€        return;

銆€    銆€}

銆€    銆€for (int i = 0; i<4; i++)

銆€銆€    {

銆€銆€        ZAux_Direct_SetDpos(g_handle, i, 0); //DPOS瑷�(sh猫)鐐洪浂

銆€    銆€}

銆€銆€}

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