#include "rmcposswitchcode.h"

RMCPosSwitchCode::RMCPosSwitchCode()
{

}

QString RMCPosSwitchCode::getCode()
{
    QString code("\n");
    code +=
    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)+
    "ENABLE ZA\n"+
    QString("PTP/e ZA,%1\n").arg(ZAAxisSafePos)+
    QString("VEL(X) = %1\n").arg(XAxisVel)+
    QString("ACC(X) = %1\n").arg(XAxisVel*10)+
    QString("DEC(X) = %1\n").arg(XAxisVel*10)+
    QString("JERK(X) = %1\n").arg(XAxisVel*100)+
    QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
    QString("VEL(Y) = %1\n").arg(YAxisVel)+
    QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
    QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
    QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
    QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
    "ENABLE (X,Y)\n"+
    QString("PTP/er (X,Y),%1,%2\n").arg(XAxisTgPos).arg(YAxisTgPos)+
    "runF = 1\n"
    "STOP";
    return code;
}


void RMCPosSwitchCode::setTargetPos(double XPos,double YPos)
{
    XAxisTgPos=XPos;
    YAxisTgPos=YPos;
}

void RMCPosSwitchCode::setZAAxisSafePos(double value)
{
    ZAAxisSafePos = value;
}

void RMCPosSwitchCode::setZAAxisToSafePosVel(double value)
{
    ZAAxisToSafePosVel = value;
}

void RMCPosSwitchCode::setXYAxisVel(double XVel,double YVel)
{
    XAxisVel = XVel;
    YAxisVel = YVel;
}