From 773369500892dcb5347e4a0059f8089960073030 Mon Sep 17 00:00:00 2001
From: xcd <834800634@qq.com>
Date: 星期三, 15 七月 2020 22:08:34 +0800
Subject: [PATCH] 板卡回原点配置迁移到初始配置轴配置中 板卡回原点配置区分运动方向和捕捉方向，限制捕捉原点方向
---
src/Bro.Common.Model/Model/MotionCardRelated.cs | 49 ++++++++++++++++++++++++++++++++-----------------
1 files changed, 32 insertions(+), 17 deletions(-)
diff --git a/src/Bro.Common.Model/Model/MotionCardRelated.cs b/src/Bro.Common.Model/Model/MotionCardRelated.cs
index 1037012..8d9ce6b 100644
--- a/src/Bro.Common.Model/Model/MotionCardRelated.cs
+++ b/src/Bro.Common.Model/Model/MotionCardRelated.cs
@@ -86,6 +86,13 @@
//[Description("IsUseWarning锛氭槸鍚﹀惎鐢ㄦ姤璀�")]
//public bool IsUseWarning { get; set; } = false;
+ [Category("鍘熺偣閰嶇疆")]
+ [DisplayName("鍥炲師鐐瑰弬鏁�")]
+ [Description("鍥炲師鐐瑰弬鏁�")]
+ [TypeConverter(typeof(ComplexObjectConvert))]
+ [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ public GoHomePara GoHomePara { get; set; } = new GoHomePara();
+
[Category("鏆傚仠閰嶇疆")]
[DisplayName("鏄惁鍚敤绔嬪嵆鏆傚仠")]
[Description("IsImmediatePause锛氭槸鍚﹀惎鐢ㄧ珛鍗虫殏鍋�")]
@@ -154,25 +161,19 @@
[Category("鍥炲師鐐瑰弬鏁�")]
[DisplayName("鍥炲師鐐规柟寮�")]
[Description("HomeMode锛氬洖鍘熺偣鏂瑰紡 锛圚OME_MODE_LIMIT = 10; HOME_MODE_LIMIT_HOME = 11; HOME_MODE_LIMIT_INDEX = 12; HOME_MODE_LIMIT_HOME_INDEX = 13;HOME_MODE_HOME = 20;HOME_MODE_HOME_INDEX = 22;HOME_MODE_INDEX = 30;")]
- public short HomeMode { get; set; } = 11;
-
- [Category("鍥炲師鐐瑰弬鏁�")]
- [DisplayName("鍥炲師鐐规柟鍚�")]
- [Description("HomeDir锛�1 姝ｅ悜锛�-1 璐熷悜")]
- public short HomeDir { get; set; } = 1;
+ public short HomeMode { get; set; } = 11;
[Category("鍥炲師鐐瑰弬鏁�")]
[DisplayName("杈圭紭")]
[Description("edge锛氳竟缂�")]
public short Edge { get; set; } = 0;
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐归�熷害")]
[DisplayName("鍥炲師鐐规渶浣庨�熷害")]
[Description("LowVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
public double LowVelocity { get; set; } = 50;
-
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐归�熷害")]
[DisplayName("鍥炲師鐐规渶楂橀�熷害")]
[Description("HighVelocity锛氶�熷害,涓�0鏃惰〃绀轰笉淇敼褰撳墠璁剧疆")]
public double HighVelocity { get; set; } = 50;
@@ -182,16 +183,30 @@
//[Description("SearchHomeDistance锛氭悳绱㈣窛绂�")]
//public int SearchHomeDistance { get; set; } = 9999999;
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐瑰亸绉�")]
[DisplayName("鍋忕Щ璺濈")]
[Description("HomeOffset锛氬亸绉昏窛绂�")]
public int HomeOffset { get; set; } = 0;
- [Category("鍥炲師鐐瑰弬鏁�")]
+ [Category("鍥炲師鐐瑰亸绉�")]
[DisplayName("璺宠繃姝ラ暱")]
[Description("EscapeStep锛氳烦杩囨闀�")]
public int EscapeStep { get; set; } = 1000;
+ [Category("鍥炲師鐐规柟鍚�")]
+ [DisplayName("璧峰杩愬姩鏂瑰悜")]
+ [Description("鍥炲師鐐规椂锛岃酱鐨勫垵濮嬭繍鍔ㄦ柟鍚戯細true 姝ｅ悜锛宖alse 璐熷悜")]
+ public bool IsHomeDirPositive { get; set; } = true;
+
+ [Category("鍥炲師鐐规柟鍚�")]
+ [DisplayName("鍘熺偣鎹曟崏鏂瑰悜")]
+ [Description("鎹曟崏鍘熺偣鏃讹紝杞寸殑杩愬姩鏂瑰悜锛歵rue 姝ｅ悜锛宖alse 璐熷悜")]
+ public bool IsCaptureDirPositive { get; set; } = true;
+
+ [Category("鍥炲師鐐硅秴鏃�")]
+ [DisplayName("鍥炲師鐐硅秴鏃�")]
+ [Description("鍥炲師鐐硅秴鏃讹紝鍗曚綅绉�")]
+ public int GoHomeTimeOut { get; set; } = 60;
}
/// <summary>
@@ -352,12 +367,12 @@
//}
//private GoHomePara goHomePara = new GoHomePara();
- [Category("杩愬姩閰嶇疆")]
- [DisplayName("鍥炲師鐐瑰弬鏁�")]
- [Description("GoHomePara锛氶�熷害鍙傛暟")]
- [TypeConverter(typeof(ComplexObjectConvert))]
- [Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
- public GoHomePara GoHomePara { get; set; } = new GoHomePara();
+ //[Category("杩愬姩閰嶇疆")]
+ //[DisplayName("鍥炲師鐐瑰弬鏁�")]
+ //[Description("GoHomePara锛氶�熷害鍙傛暟")]
+ //[TypeConverter(typeof(ComplexObjectConvert))]
+ //[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
+ //public GoHomePara GoHomePara { get; set; } = new GoHomePara();
//{
// get => goHomePara;
// set
--
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