固高jog运动和点位运动



本文转载连接： http://buaagc.lofter.com/post/1cd54dda_b61e206

BOOL CDlgMove::PreTranslateMessage(MSG* pMsg)

{

CSingleton* pInfo = CSingleton::GetInstance();

if (pMsg->message == WM_KEYDOWN)

{

if (pMsg->wParam == VK_ESCAPE )

return TRUE;

int iAxis = 1;

if (m_bLeft)

iAxis += 2;

if (pMsg->wParam == 'A' && GetKeyState(VK_SHIFT) < 0 && m_bSingle == false) //按下shift和A键

{

m_bSingle = true;

if (((CButton*)GetDlgItem(IDC_RADIO3))->GetCheck() == BST_CHECKED)   //jog运动

{

TJogPrm jog;

GT_PrfJog(iAxis);                                // 读取Jog运动参数

GT_GetJogPrm(iAxis, &jog);

jog.acc = 0.3;

GT_SetJogPrm(iAxis, &jog);                  // 设置Jog运动参数

if (m_bLeft)

GT_SetVel(iAxis, pInfo->_iVel);             // 设置AXIS轴的目标速度

else

GT_SetVel(iAxis, -1*pInfo->_iVel);

GT_Update(1<<(iAxis - 1));                   // 启动AXIS轴的运动

}

else

{

TTrapPrm trap;

GT_PrfTrap(iAxis);

GT_GetTrapPrm(iAxis, &trap);               // 读取点位运动参数

trap.acc = 0.3;

trap.smoothTime = 25;

GT_SetTrapPrm(iAxis, &trap);

DOUBLE fCurrPos;

GT_GetAxisEncPos(iAxis,&fCurrPos);

CString strMM;

GetDlgItemText(IDC_EDIT_P,strMM);

int iAdd = atof(strMM)*m_fPC;

GT_SetPos(iAxis,(long)(fCurrPos + abs(iAdd)));

GT_SetVel(iAxis, pInfo->_iVel);

GT_Update(1<<(iAxis -1));

}

}

if (pMsg->wParam == 'D' && GetKeyState(VK_SHIFT) < 0 && m_bSingle == false)

{

m_bSingle = true;

if (((CButton*)GetDlgItem(IDC_RADIO3))->GetCheck() == BST_CHECKED)   //jog运动

{

TJogPrm jog;

GT_PrfJog(iAxis);                                // 读取Jog运动参数

GT_GetJogPrm(iAxis, &jog);

jog.acc = 0.3;

GT_SetJogPrm(iAxis, &jog);                  // 设置Jog运动参数

if (m_bLeft)

GT_SetVel(iAxis, -1*pInfo->_iVel);

else

GT_SetVel(iAxis, pInfo->_iVel);         // 设置AXIS轴的目标速度

GT_Update(1<<(iAxis - 1));                   // 启动AXIS轴的运动

}

else

{

TTrapPrm trap;

GT_PrfTrap(iAxis);

GT_GetTrapPrm(iAxis, &trap);      // 读取点位运动参数

trap.acc = 0.3;

trap.smoothTime = 25;

GT_SetTrapPrm(iAxis, &trap);

DOUBLE fCurrPos;

GT_GetAxisEncPos(iAxis,&fCurrPos);

CString strMM;

GetDlgItemText(IDC_EDIT_P,strMM);

int iAdd = atof(strMM)*m_fPC;

GT_SetPos(iAxis,(long)(fCurrPos - abs(iAdd)));

GT_SetVel(iAxis, pInfo->_iVel);

GT_Update(1<<(iAxis -1));

}

}

if (pMsg->wParam == 'W' && GetKeyState(VK_SHIFT) < 0 && m_bSingle == false)

{

m_bSingle = true;

iAxis++;

if (((CButton*)GetDlgItem(IDC_RADIO3))->GetCheck() == BST_CHECKED)   //jog运动

{

TJogPrm jog;

GT_PrfJog(iAxis);                                // 读取Jog运动参数

GT_GetJogPrm(iAxis, &jog);

jog.acc = 0.3;

GT_SetJogPrm(iAxis, &jog);                  // 设置Jog运动参数

GT_SetVel(iAxis, pInfo->_iVel);             // 设置AXIS轴的目标速度

GT_Update(1<<(iAxis - 1));                   // 启动AXIS轴的运动

}

else

{

TTrapPrm trap;

double prfPos;

GT_PrfTrap(iAxis);

GT_GetTrapPrm(iAxis, &trap);      // 读取点位运动参数

trap.acc = 0.3;

trap.smoothTime = 25;

GT_SetTrapPrm(iAxis, &trap);

DOUBLE fCurrPos;

GT_GetAxisEncPos(iAxis,&fCurrPos);

CString strMM;

GetDlgItemText(IDC_EDIT_P,strMM);

int iAdd = atof(strMM)*m_fPC;

GT_SetPos(iAxis,(long)(fCurrPos + abs(iAdd)));

GT_SetVel(iAxis, pInfo->_iVel);

GT_Update(1<<(iAxis -1));

}

}

if (pMsg->wParam == 'S' && GetKeyState(VK_SHIFT) < 0 && m_bSingle == false)

{

m_bSingle = true;

iAxis++;

if (((CButton*)GetDlgItem(IDC_RADIO3))->GetCheck() == BST_CHECKED)   //jog运动

{

TJogPrm jog;

GT_PrfJog(iAxis);                                // 读取Jog运动参数

GT_GetJogPrm(iAxis, &jog);

jog.acc = 0.3;

GT_SetJogPrm(iAxis, &jog);                  // 设置Jog运动参数

GT_SetVel(iAxis, -1*pInfo->_iVel);         // 设置AXIS轴的目标速度

GT_Update(1<<(iAxis - 1));                   // 启动AXIS轴的运动

}

else

{

TTrapPrm trap;

GT_PrfTrap(iAxis);

GT_GetTrapPrm(iAxis, &trap);      // 读取点位运动参数

trap.acc = 0.3;

trap.smoothTime = 25;

GT_SetTrapPrm(iAxis, &trap);

DOUBLE fCurrPos;

GT_GetAxisEncPos(iAxis,&fCurrPos);

CString strMM;

GetDlgItemText(IDC_EDIT_P,strMM);

int iAdd = atof(strMM)*m_fPC;

GT_SetPos(iAxis,(long)(fCurrPos - abs(iAdd)));

GT_SetVel(iAxis, pInfo->_iVel);

GT_Update(1<<(iAxis -1));

}

}

}

if (pMsg->message == WM_KEYUP)

{

if (pMsg->wParam == 'A' || pMsg->wParam == 'D' || pMsg->wParam == 'W' || pMsg->wParam == 'S')

{

m_bSingle = false;

int iAxis = 1;

if (m_bLeft)

iAxis += 2;

if (pMsg->wParam == 'W' || pMsg->wParam == 'S')

iAxis++;

if (((CButton*)GetDlgItem(IDC_RADIO3))->GetCheck() == BST_CHECKED)

{

for (int i = 0;i < 4;i++)

GT_Stop(1<

}

}

}

return CDialogEx::PreTranslateMessage(pMsg);

}