init

2024-03-06 14:54:30 +08:00
commit edac2715f0
1525 changed files with 809982 additions and 0 deletions
--- a/device/control/acs/buffercode/rsensortozero.cpp
+++ b/device/control/acs/buffercode/rsensortozero.cpp
@@ -0,0 +1,193 @@
+#include "rsensortozero.h"
+
+RSensorToZero::RSensorToZero()
+{
+
+}
+
+
+void RSensorToZero::setZAAxisSafePos(double value)
+{
+    ZAAxisSafePos = value;
+}
+
+void RSensorToZero::setZAAxisToSafePosVel(double value)
+{
+    ZAAxisToSafePosVel = value;
+}
+void RSensorToZero::setZAAxisToZero1Vel(double value)
+{
+    ZAAxisToZero1Vel = value;
+}
+void RSensorToZero::setZAAxisToZero2Vel(double value)
+{
+    ZAAxisToZero2Vel = value;
+}
+void RSensorToZero::setZAAxisToZero3Vel(double value)
+{
+    ZAAxisToZero3Vel = value;
+}
+
+
+//QString RSensorToZero::getCode()
+//{
+//    QString code;
+//    code+=
+//    QString("VEL(Z) = 2\n")+
+//    QString("ACC(Z) = 20\n")+
+//    QString("DEC(Z) = 20\n")+
+//    QString("JERK(Z) = 200\n")+
+//    QString("KDEC(Z) = 200\n")+
+//    QString("PTP/e Z, 0\n")+
+//    "IF RangeV<-1.5\n"+
+//    QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
+//    QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
+//    QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
+//    QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
+//    QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
+//    QString("PTP/e ZA, %1\n").arg(ZAAxisSafePos)+
+//    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero1Vel)+
+//    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
+//    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
+//    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
+//    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
+//    "PTP ZA, -30\n"
+//    "TILL ABS(RangeV) < 0.1\n"
+//    "HALT ZA\n"
+//    "WAIT 1000\n"+
+//    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero2Vel)+
+//    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
+//    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
+//    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
+//    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
+//    "PTP/er ZA, RangeV\n"
+//    "WAIT 1000\n"
+//    "ELSE\n"+
+//    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero1Vel)+
+//    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
+//    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
+//    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
+//    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
+//    "PTP/ER ZA,RangeV\n"
+//    "WAIT 1800\n"+
+//    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero2Vel)+
+//    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
+//    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
+//    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
+//    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
+//    "PTP/ER ZA,RangeV\n"
+//    "WAIT 600\n"
+//    "END\n"
+//    "IF ABS(RangeV) >= 0.0003\n"+
+//    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero3Vel)+
+//    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero3Vel*10)+
+//    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero3Vel*10)+
+//    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero3Vel*100)+
+//    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero3Vel*100)+
+//    "PTP/er ZA, RangeV\n"
+//    "END\n"
+//    "runF = 1\n"
+//    "STOP";
+//    return code;
+//}
+
+
+
+
+QString RSensorToZero::getCode()
+{
+    QString strDoOpen,strDiSts1,strDoClose,strDiSts0;
+    if (CuCeGaoDiNum < 8)
+        strDiSts1 = QString("DI1.%1=1\n").arg(CuCeGaoDiNum);
+    else
+        strDiSts1 = QString("DI2.%1=1\n").arg(CuCeGaoDiNum-8);
+    if (CuCeGaoDiNum < 8)
+        strDiSts0 = QString("DI1.%1=0\n").arg(CuCeGaoDiNum);
+    else
+        strDiSts0 = QString("DI2.%1=0\n").arg(CuCeGaoDiNum-8);
+
+    if (CuCeGaoDoNum < 8)
+        strDoOpen = QString("DO1.%1=1\n").arg(CuCeGaoDoNum);
+    else
+        strDoOpen = QString("DO2.%1=1\n").arg(CuCeGaoDoNum-8);
+    if (CuCeGaoDoNum < 8)
+        strDoClose = QString("DO1.%1=0\n").arg(CuCeGaoDoNum);
+    else
+        strDoClose = QString("DO2.%1=0\n").arg(CuCeGaoDoNum-8);
+
+    QString code;
+    code+=
+    QString("GLOBAL INT DuiLingF=-1\n")+
+    QString("VEL(Z) = 2\n")+
+    QString("ACC(Z) = 20\n")+
+    QString("DEC(Z) = 20\n")+
+    QString("JERK(Z) = 200\n")+
+    QString("KDEC(Z) = 200\n")+
+    QString("PTP/e Z, 0\n")+
+    QString("VEL(Z0) = 5\n")+
+    QString("ACC(Z0) = 50\n")+
+    QString("DEC(Z0) = 50\n")+
+    QString("JERK(Z0) = 500\n")+
+    QString("KDEC(Z0) = 500\n")+
+    QString("PTP/e Z0, 0\n")+
+    strDoClose+
+    QString("TILL %1\n").arg(strDiSts1)+
+    "IF RangeV<-1.5\n"+
+    QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
+    QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
+    QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
+    QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
+    QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
+    QString("PTP/e ZA, %1\n").arg(ZAAxisSafePos+1)+
+    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero1Vel)+
+    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
+    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
+    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
+    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
+    "PTP ZA, -30\n"
+    "TILL ABS(RangeV) < 0.5 | "+
+    strDiSts0+
+    "HALT ZA\n"
+    "WAIT 1000\n"
+    "if RangeV < -10\n"
+    "DuiLingF=0\n"
+    "goto duiling\n"
+    "end\n"+
+    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero2Vel)+
+    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
+    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
+    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
+    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
+    "PTP/er ZA, RangeV\n"
+    "WAIT 1000\n"
+    "ELSE\n"+
+    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero1Vel)+
+    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
+    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
+    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
+    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
+    "PTP/ER ZA,RangeV\n"
+    "WAIT 1800\n"+
+    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero2Vel)+
+    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
+    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
+    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
+    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
+    "PTP/ER ZA,RangeV\n"
+    "WAIT 600\n"
+    "END\n"
+    "IF ABS(RangeV) >= 0.0003\n"+
+    QString("VEL(ZA) = %1\n").arg(ZAAxisToZero3Vel)+
+    QString("ACC(ZA) = %1\n").arg(ZAAxisToZero3Vel*10)+
+    QString("DEC(ZA) = %1\n").arg(ZAAxisToZero3Vel*10)+
+    QString("JERK(ZA) = %1\n").arg(ZAAxisToZero3Vel*100)+
+    QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero3Vel*100)+
+    "PTP/er ZA, RangeV\n"
+    "END\n"
+    "DuiLingF=1\n"
+    "duiling:\n"+
+    strDoOpen+
+    "runF = 1\n"
+    "STOP";
+    return code;
+}