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Commit 2334bd87 由 顾剑亮
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1 个父辈 e90b5c6c
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正在显示 34 个修改的文件 包含 139 行增加 和 53 行删除
.vs/Rmaxis/v16/.suo
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Rmaxis/Properties/AssemblyInfo.cs
...@@ -32,5 +32,5 @@ using System.Runtime.InteropServices; ...@@ -32,5 +32,5 @@ using System.Runtime.InteropServices;
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示: //通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")] // [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")] [assembly: AssemblyVersion("1.0.1.0")]
[assembly: AssemblyFileVersion("1.0.0.0")] [assembly: AssemblyFileVersion("1.0.1.0")]
Rmaxis/Rmaxis.cs
...@@ -13,6 +13,8 @@ namespace Neotel ...@@ -13,6 +13,8 @@ namespace Neotel
public class Rmaxis public class Rmaxis
{ {
private RMAxis device; private RMAxis device;
private string portName;
private ushort axisNo;
private readonly log4net.ILog LOG; private readonly log4net.ILog LOG;
private readonly bool initOK; private readonly bool initOK;
public readonly string[] ErrorString = new string[] { "正常", "通用错误", "电机失相", "位置超差", "速度超差", "电机堵转", "初相励磁错误" }; public readonly string[] ErrorString = new string[] { "正常", "通用错误", "电机失相", "位置超差", "速度超差", "电机堵转", "初相励磁错误" };
...@@ -86,8 +88,11 @@ namespace Neotel ...@@ -86,8 +88,11 @@ namespace Neotel
{ {
try try
{ {
this.portName = portName;
this.axisNo = axisNo;
device = RMAxis.CreateModbus("\\\\.\\" + portName.ToUpper(), 115200, axisNo); device = RMAxis.CreateModbus("\\\\.\\" + portName.ToUpper(), 115200, axisNo);
LOG.Info("OpenPort OK"); LOG.Info(string.Format("OpenPort {0}:{1} OK", portName, axisNo));
//device.ServoOnOff = true;
IsPortOpen = true; IsPortOpen = true;
} }
catch (Exception ex) catch (Exception ex)
...@@ -114,9 +119,10 @@ namespace Neotel ...@@ -114,9 +119,10 @@ namespace Neotel
try try
{ {
//device.ServoOnOff = false;
RMAxis.Destroy(device); RMAxis.Destroy(device);
device = null; device = null;
LOG.Info("ClosePort OK"); LOG.Info(string.Format("ClosePort {0}:{1} OK", portName, axisNo));
} }
catch (Exception ex) catch (Exception ex)
{ {
...@@ -216,7 +222,7 @@ namespace Neotel ...@@ -216,7 +222,7 @@ namespace Neotel
try try
{ {
n = device.Torque; n = device.Torque;
LOG.Info("GetTorque OK"); LOG.Debug("GetTorque OK");
} }
catch (Exception ex) catch (Exception ex)
{ {
...@@ -226,26 +232,26 @@ namespace Neotel ...@@ -226,26 +232,26 @@ namespace Neotel
return n; return n;
} }
///// <summary> /// <summary>
///// 获取电机运动中的出力 /// 获取当前力传感器读数
///// </summary> /// </summary>
///// <returns>出力，%</returns> /// <returns>出力，%</returns>
//public float GetForce() public float GetForceSensor()
//{ {
// float n = -1; float n = -1;
// if (!IsPortOpen) return n; if (!IsPortOpen) return n;
// try try
// { {
// n = device.ForceSensor; n = device.ForceSensor;
// LOG.Info("GetForce OK"); LOG.Info("GetForce OK");
// } }
// catch (Exception ex) catch (Exception ex)
// { {
// n = -1; n = -1;
// LOG.Error("GetForce", ex); LOG.Error("GetForce", ex);
// } }
// return n; return n;
//} }
/// <summary> /// <summary>
/// 获取当前电机速度 /// 获取当前电机速度
...@@ -258,7 +264,7 @@ namespace Neotel ...@@ -258,7 +264,7 @@ namespace Neotel
try try
{ {
n = device.Velocity; n = device.Velocity;
LOG.Info("GetVelocity OK"); LOG.Debug("GetVelocity OK");
} }
catch (Exception ex) catch (Exception ex)
{ {
...@@ -279,7 +285,7 @@ namespace Neotel ...@@ -279,7 +285,7 @@ namespace Neotel
try try
{ {
n = device.Position; n = device.Position;
LOG.Info("GetPosition OK"); LOG.Debug("GetPosition OK");
} }
catch (Exception ex) catch (Exception ex)
{ {
...@@ -315,7 +321,7 @@ namespace Neotel ...@@ -315,7 +321,7 @@ namespace Neotel
/// <param name="force">出力，%</param> /// <param name="force">出力，%</param>
/// <param name="distance">距离，mm</param> /// <param name="distance">距离，mm</param>
/// <param name="velocity">速度，mm/s</param> /// <param name="velocity">速度，mm/s</param>
public void Push(float force, float distance, float velocity) public void Push(float force = 30, float distance = 7, float velocity = 500)
{ {
if (!IsPortOpen) return; if (!IsPortOpen) return;
LOG.Info("Push Start"); LOG.Info("Push Start");
...@@ -339,7 +345,7 @@ namespace Neotel ...@@ -339,7 +345,7 @@ namespace Neotel
/// <param name="acceleration">加速度，mm/s^2</param> /// <param name="acceleration">加速度，mm/s^2</param>
/// <param name="deacceleration">减速度，mm/s^2</param> /// <param name="deacceleration">减速度，mm/s^2</param>
/// <param name="band">定位范围，mm</param> /// <param name="band">定位范围，mm</param>
public void MoveAbsolute(float position, float velocity, float acceleration, float deacceleration, float band) public void MoveAbsolute(float position = 7, float velocity = 500, float acceleration = 500, float deacceleration = 500, float band = 0.1f)
{ {
if (!IsPortOpen) return; if (!IsPortOpen) return;
LOG.Info("MoveAbsolute Start"); LOG.Info("MoveAbsolute Start");
...@@ -529,9 +535,9 @@ namespace Neotel ...@@ -529,9 +535,9 @@ namespace Neotel
private bool Wait(int timeout) private bool Wait(int timeout)
{ {
int n = 0; int n = 0;
int mm = 10; int msec = 5;
bool result = true; bool result = true;
System.Threading.Thread.Sleep(mm); System.Threading.Thread.Sleep(msec);
while (!device.IsReached()) while (!device.IsReached())
{ {
...@@ -540,8 +546,8 @@ namespace Neotel ...@@ -540,8 +546,8 @@ namespace Neotel
result = false; result = false;
break; break;
} }
n += mm; n += msec;
System.Threading.Thread.Sleep(mm); System.Threading.Thread.Sleep(msec);
System.Windows.Forms.Application.DoEvents(); System.Windows.Forms.Application.DoEvents();
} }
return result; return result;
......
Rmaxis/bin/Debug/Neotel.Rmaxis.xml
...@@ -75,6 +75,12 @@ ...@@ -75,6 +75,12 @@
</summary> </summary>
<returns>出力，%</returns> <returns>出力，%</returns>
</member> </member>
<member name="M:Neotel.Rmaxis.GetForceSensor">
<summary>
获取当前力传感器读数
</summary>
<returns>出力，%</returns>
</member>
<member name="M:Neotel.Rmaxis.GetVelocity"> <member name="M:Neotel.Rmaxis.GetVelocity">
<summary> <summary>
获取当前电机速度 获取当前电机速度
......
Rmaxis/obj/Debug/Rmaxis.csproj.CoreCompileInputs.cache
c9564820a79ee9ecf18d331729e43a9bc2a948d1 adfa69f216c5b3ebd55063cc7b2c7f636a6b704c
Rmaxis/obj/Debug/Rmaxis.csproj.FileListAbsolute.txt
...@@ -8,3 +8,13 @@ C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Neotel.Rmaxis.dll ...@@ -8,3 +8,13 @@ C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Neotel.Rmaxis.dll
C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Neotel.Rmaxis.pdb C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Neotel.Rmaxis.pdb
C:\Neotel\Program_Beta\Rmaxis\Rmaxis\bin\Debug\Neotel.Rmaxis.xml C:\Neotel\Program_Beta\Rmaxis\Rmaxis\bin\Debug\Neotel.Rmaxis.xml
C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Rmaxis.csprojAssemblyReference.cache C:\Neotel\Program_Beta\Rmaxis\Rmaxis\obj\Debug\Rmaxis.csprojAssemblyReference.cache
C:\Neotel\Program\Rmaxis\Rmaxis\bin\Debug\Neotel.Rmaxis.xml
C:\Neotel\Program\Rmaxis\Rmaxis\bin\Debug\Neotel.Rmaxis.dll
C:\Neotel\Program\Rmaxis\Rmaxis\bin\Debug\Neotel.Rmaxis.pdb
C:\Neotel\Program\Rmaxis\Rmaxis\bin\Debug\log4net.dll
C:\Neotel\Program\Rmaxis\Rmaxis\bin\Debug\log4net.xml
C:\Neotel\Program\Rmaxis\Rmaxis\obj\Debug\Rmaxis.csproj.CoreCompileInputs.cache
C:\Neotel\Program\Rmaxis\Rmaxis\obj\Debug\Rmaxis.csproj.CopyComplete
C:\Neotel\Program\Rmaxis\Rmaxis\obj\Debug\Neotel.Rmaxis.dll
C:\Neotel\Program\Rmaxis\Rmaxis\obj\Debug\Neotel.Rmaxis.pdb
C:\Neotel\Program\Rmaxis\Rmaxis\obj\Debug\Rmaxis.csprojAssemblyReference.cache
Test/FrmMain.cs
...@@ -15,6 +15,7 @@ namespace Test ...@@ -15,6 +15,7 @@ namespace Test
private readonly log4net.ILog LOG; private readonly log4net.ILog LOG;
private Neotel.Rmaxis axis; private Neotel.Rmaxis axis;
private bool testLoop; private bool testLoop;
private FrmMain frmSecond;
private System.Threading.Thread tStatus; private System.Threading.Thread tStatus;
private System.Threading.Thread tTest; private System.Threading.Thread tTest;
...@@ -24,16 +25,52 @@ namespace Test ...@@ -24,16 +25,52 @@ namespace Test
LOG = log4net.LogManager.GetLogger("Test"); LOG = log4net.LogManager.GetLogger("Test");
} }
public FrmMain(bool sameTime) : this()
{
BtnNewWindow.Visible = !sameTime;
BtnSameTime.Visible = !sameTime;
}
public void LoopTestTrigger()
{
if (testLoop)
{
StopTest();
return;
}
testLoop = true;
BtnStability.Text = "停止";
int[] param = new int[5];
param[0] = Convert.ToInt32(NudForce2.Value);
param[1] = Convert.ToInt32(NudDistance2.Value);
param[2] = Convert.ToInt32(NudVelocity3.Value);
param[3] = Convert.ToInt32(NudTimes.Value);
param[4] = Convert.ToInt32(NudInterval.Value);
tTest = new System.Threading.Thread(new System.Threading.ParameterizedThreadStart(PushTest));
tTest.Start(param);
}
private void ReadStatus() private void ReadStatus()
{ {
while (true) while (true)
{ {
if (!axis.IsPortOpen) break; if (!axis.IsPortOpen) break;
float t = axis.GetTorque();
System.Threading.Thread.Sleep(20);
float v = axis.GetVelocity();
System.Threading.Thread.Sleep(20);
float p = axis.GetPosition();
System.Threading.Thread.Sleep(20);
LblStatus.Invoke(new Action(() => LblStatus.Invoke(new Action(() =>
{ {
LblStatus.Text = "出力：" + axis.GetTorque() + "\r\n速度：" + axis.GetVelocity() + "\r\n位置：" + axis.GetPosition() + "\r\n错误代码：" + axis.ErrorCode; LblStatus.Text = string.Format("出力：{0}\r\n速度：{1}\r\n位置：{2}\r\n错误代码：{3}", t, v, p, axis.ErrorCode);
})); }));
System.Threading.Thread.Sleep(50); System.Threading.Thread.Sleep(200);
} }
} }
...@@ -86,6 +123,10 @@ namespace Test ...@@ -86,6 +123,10 @@ namespace Test
{ {
for (int i = 1; i <= 30; i++) for (int i = 1; i <= 30; i++)
CboPort.Items.Add("COM" + i); CboPort.Items.Add("COM" + i);
CboPort.SelectedIndex = 0;
for (int i = 0; i < 10; i++)
CboAxisNo.Items.Add(i.ToString());
CboAxisNo.SelectedIndex = 0;
axis = new Neotel.Rmaxis(); axis = new Neotel.Rmaxis();
} }
...@@ -97,7 +138,7 @@ namespace Test ...@@ -97,7 +138,7 @@ namespace Test
private void BtnOpenPort_Click(object sender, EventArgs e) private void BtnOpenPort_Click(object sender, EventArgs e)
{ {
bool rtn = axis.OpenPort(CboPort.Text); bool rtn = axis.OpenPort(CboPort.Text, Convert.ToUInt16(CboAxisNo.Text));
TsslStatus.Text = BtnOpenPort.Text + " " + rtn; TsslStatus.Text = BtnOpenPort.Text + " " + rtn;
if (rtn) if (rtn)
{ {
...@@ -142,22 +183,19 @@ namespace Test ...@@ -142,22 +183,19 @@ namespace Test
private void BtnStability_Click(object sender, EventArgs e) private void BtnStability_Click(object sender, EventArgs e)
{ {
if (testLoop) LoopTestTrigger();
}
private void BtnNewWindow_Click(object sender, EventArgs e)
{ {
StopTest(); frmSecond = new FrmMain(true);
return; frmSecond.Show();
} }
testLoop = true; private void BtnSameTime_Click(object sender, EventArgs e)
BtnStability.Text = "停止"; {
int[] param = new int[5]; LoopTestTrigger();
param[0] = Convert.ToInt32(NudForce2.Value); frmSecond.LoopTestTrigger();
param[1] = Convert.ToInt32(NudDistance2.Value);
param[2] = Convert.ToInt32(NudVelocity3.Value);
param[3] = Convert.ToInt32(NudTimes.Value);
param[4] = Convert.ToInt32(NudInterval.Value);
tTest = new System.Threading.Thread(new System.Threading.ParameterizedThreadStart(PushTest));
tTest.Start(param);
} }
} }
} }
Test/Properties/AssemblyInfo.cs
...@@ -32,7 +32,7 @@ using System.Runtime.InteropServices; ...@@ -32,7 +32,7 @@ using System.Runtime.InteropServices;
//可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值 //可以指定所有这些值，也可以使用“生成号”和“修订号”的默认值
//通过使用 "*"，如下所示: //通过使用 "*"，如下所示:
// [assembly: AssemblyVersion("1.0.*")] // [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.0.0.0")] [assembly: AssemblyVersion("1.1.0.0")]
[assembly: AssemblyFileVersion("1.0.0.0")] [assembly: AssemblyFileVersion("1.1.0.0")]
[assembly: log4net.Config.XmlConfigurator(ConfigFile = "log4net.config", Watch = true)] [assembly: log4net.Config.XmlConfigurator(ConfigFile = "log4net.config", Watch = true)]
\ No newline at end of file \ No newline at end of file
Test/bin/Debug/Log/Rmaxis.log2021-01-07 deleted 100644 → 0
此文件的差异太大，无法显示。
Test/bin/Debug/Log/Rmaxis.log2021-03-17 0 → 100644
[2021-03-17 10:15:12,158][1][Rmaxis:35]INFO Rmaxis Init OK
Test/bin/Debug/Log/Rmaxis.log2021-03-18 0 → 100644
[2021-03-18 15:51:17,562][1][Rmaxis:35]INFO Rmaxis Init OK
Test/bin/Debug/Log/Test.log2021-03-18 0 → 100644

\ No newline at end of file \ No newline at end of file
Test/bin/Debug/Neotel.Rmaxis.xml
...@@ -75,6 +75,12 @@ ...@@ -75,6 +75,12 @@
</summary> </summary>
<returns>出力，%</returns> <returns>出力，%</returns>
</member> </member>
<member name="M:Neotel.Rmaxis.GetForceSensor">
<summary>
获取当前力传感器读数
</summary>
<returns>出力，%</returns>
</member>
<member name="M:Neotel.Rmaxis.GetVelocity"> <member name="M:Neotel.Rmaxis.GetVelocity">
<summary> <summary>
获取当前电机速度 获取当前电机速度
......
Test/obj/Debug/Test.csproj.CoreCompileInputs.cache
2ae0cbbcb54252e6c6a2315981efabe3ced705a1 541b02af5647151dc4ab4cd2a95ce05d8d992950
Test/obj/Debug/Test.csproj.FileListAbsolute.txt
...@@ -15,3 +15,20 @@ C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.dll ...@@ -15,3 +15,20 @@ C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.dll
C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.xml C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.xml
C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.config C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\log4net.config
C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\Neotel.Rmaxis.xml C:\Neotel\Program_Beta\Rmaxis\Test\bin\Debug\Neotel.Rmaxis.xml
C:\Neotel\Program\Rmaxis\Test\bin\Debug\log4net.config
C:\Neotel\Program\Rmaxis\Test\bin\Debug\Test.exe.config
C:\Neotel\Program\Rmaxis\Test\bin\Debug\Test.exe
C:\Neotel\Program\Rmaxis\Test\bin\Debug\Test.pdb
C:\Neotel\Program\Rmaxis\Test\bin\Debug\log4net.dll
C:\Neotel\Program\Rmaxis\Test\bin\Debug\Neotel.Rmaxis.dll
C:\Neotel\Program\Rmaxis\Test\bin\Debug\Neotel.Rmaxis.pdb
C:\Neotel\Program\Rmaxis\Test\bin\Debug\Neotel.Rmaxis.xml
C:\Neotel\Program\Rmaxis\Test\bin\Debug\log4net.xml
C:\Neotel\Program\Rmaxis\Test\obj\Debug\Test.csprojAssemblyReference.cache
C:\Neotel\Program\Rmaxis\Test\obj\Debug\Test.FrmMain.resources
C:\Neotel\Program\Rmaxis\Test\obj\Debug\Test.Properties.Resources.resources
C:\Neotel\Program\Rmaxis\Test\obj\Debug\Test.csproj.GenerateResource.cache
C:\Neotel\Program\Rmaxis\Test\obj\Debug\Test.csproj.CoreCompileInputs.cache
C:\Neotel\Program\Rmaxis\Test\obj\Debug\Test.csproj.CopyComplete
C:\Neotel\Program\Rmaxis\Test\obj\Debug\Test.exe
C:\Neotel\Program\Rmaxis\Test\obj\Debug\Test.pdb
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