debug

wells

2020-07-12 66d995d55f9c122328b4eceb99bc20aca3a42c10

 src/Bro.UI.Device.Winform/MotionCard/FrmMotionCardOperationBase.cs

@@ -17,7 +17,7 @@

        public IDevice Device { get; set; }

        public MotionCardOperationConfigBase MotionCardOperationConfig { get; set; }
        public MovingOption MotionCardMovingOption { get; set; } = new MovingOption();

        /// <summary>
        /// 当前板卡实例
@@ -39,44 +39,54 @@
        {
            foreach (var axisConfig in MotionCard.IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
            {
                var axisMovingStatus = MotionCard.AxisMovingOptionValues.FirstOrDefault(u => u.AxisIndex == axisConfig.AxisIndex);
                if (axisMovingStatus != null)
                {
                    CtrlMotionCardAxisOperation axisOperation = new CtrlMotionCardAxisOperation(axisMovingStatus.AxisIndex, axisMovingStatus.AxisName);
                    axisOperation.Dock = DockStyle.Fill;
                    flowLayoutPanel1.Controls.Add(axisOperation);
                }
                CtrlMotionCardAxisOperation axisOperation = new CtrlMotionCardAxisOperation(Device, axisConfig.AxisIndex, axisConfig.AxisName);
                //axisOperation.Dock = DockStyle.Fill;
                flowLayoutPanel1.Controls.Add(axisOperation);

            }

            MotionCardMovingOption.SetAxisSetting(MotionCard.IConfig.AxisSettings);
            propGrid.SelectedObject = MotionCardMovingOption;
        }

        private void buttonClearStatus_Click(object sender, EventArgs e)
        {

            MotionCard.ClearStatus(1, MotionCard.IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
        }

        private void buttonServoEnable_Click(object sender, EventArgs e)
        {

            int sts = MotionCard.GetAxisStatus(MotionCardMovingOption.AxisIndex);
            if ((sts & 0x200) == 0)//关闭状态
            {
                MotionCard.AxisOnAsync(MotionCardMovingOption.AxisIndex);
                buttonServoEnable.Text = "伺服已开启";
            }
            else
            {
                MotionCard.AxisOffAsync(MotionCardMovingOption.AxisIndex);
                buttonServoEnable.Text = "伺服已关闭";
            }
        }

        private void buttonPositionReset_Click(object sender, EventArgs e)
        {

            var res = MotionCard.PositionReset(MotionCardMovingOption.AxisIndex, 1);
        }

        private void btnStart_Click(object sender, EventArgs e)
        {

            MotionCard.SingleAxisMoving(MotionCardMovingOption);
        }

        private void buttonSmoothStop_Click(object sender, EventArgs e)
        {

            MotionCard.MoveStop(MotionCardMovingOption.AxisIndex, 0);
        }

        private void buttonEmergencyStop_Click(object sender, EventArgs e)
        {

            MotionCard.MoveStop(MotionCardMovingOption.AxisIndex, 1);
        }

    }