init

device/control/acs/buffercode/rscompcode.cpp

@@ -0,0 +1,74 @@
+#include "rscompcode.h"
+
+RSCompCode::RSCompCode()
+{
+
+}
+
+
+void RSCompCode::setXStartPos(double value)
+{
+    xStartPos = value;
+}
+
+void RSCompCode::setYStartPos(double value)
+{
+    yStartPos = value;
+}
+
+void RSCompCode::setXInterval(double value)
+{
+    xInterval = value;
+}
+void RSCompCode::setYInterval(double value)
+{
+    yInterval = value;
+}
+
+void RSCompCode::setXWorkRange(double value)
+{
+    xWorkRange = value;
+}
+
+void RSCompCode::setYWorkRange(double value)
+{
+    yWorkRange = value;
+}
+
+int RSCompCode::getLookupRows()
+{
+    // 比如范围为3，间隔为1，Y方向会有4条线段
+    return int(xWorkRange/xInterval)+1;
+}
+
+int RSCompCode::getLookupCols()
+{
+    return int(yWorkRange/yInterval)+1;
+}
+
+
+QString RSCompCode::getCode()
+{
+
+    QString code = QString("global real LookupTable(%1)(%2)\n").arg(getLookupRows()).arg(getLookupCols());
+    code +=
+    // 设置APOS和RPOS非默认连接
+    "MFLAGS(Z).#DEFCON = 0\n"
+    "CONNECT RPOS(Z) = RPOS(Z)\n"
+    // 执行connect命令后控制其将电机依赖重置为默认值
+    // 如果连接公式实际上导致电机依赖于另一轴，则需要重新指定依赖
+    "DEPENDS Z, Z\n"+
+    // 防止开启补偿的瞬间Z1轴跳动
+    //QString("SET APOS(Z) = RPOS(Z) - MAP2(FPOS(Y), FPOS(X), LookupTable, %1, %2, %3, %4)\n").arg(yStartPos-yInterval).arg(yInterval).arg(xStartPos-xInterval).arg(xInterval)+
+    //QString("CONNECT RPOS(Z) = APOS(Z) + MAP2(FPOS(Y), FPOS(X), LookupTable,%1, %2, %3, %4)\n").arg(yStartPos-yInterval).arg(yInterval).arg(xStartPos-xInterval).arg(xInterval)+
+    QString("SET APOS(Z) = RPOS(Z) - MAP2(FPOS(Y), FPOS(X), LookupTable, %1, %2, %3, %4)\n").arg(yStartPos).arg(yInterval).arg(xStartPos).arg(xInterval)+
+    QString("CONNECT RPOS(Z) = APOS(Z) + MAP2(FPOS(Y), FPOS(X), LookupTable,%1, %2, %3, %4)\n").arg(yStartPos).arg(yInterval).arg(xStartPos).arg(xInterval)+
+    "DEPENDS Z, Z\n"
+    "runF = 1\n"
+    "STOP";
+
+    return code;
+}
+
+
+