75 lines
1.9 KiB
C++
75 lines
1.9 KiB
C++
#include "rscompcode.h"
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RSCompCode::RSCompCode()
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{
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}
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void RSCompCode::setXStartPos(double value)
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{
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xStartPos = value;
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}
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void RSCompCode::setYStartPos(double value)
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{
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yStartPos = value;
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}
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void RSCompCode::setXInterval(double value)
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{
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xInterval = value;
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}
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void RSCompCode::setYInterval(double value)
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{
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yInterval = value;
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}
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void RSCompCode::setXWorkRange(double value)
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{
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xWorkRange = value;
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}
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void RSCompCode::setYWorkRange(double value)
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{
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yWorkRange = value;
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}
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int RSCompCode::getLookupRows()
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{
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// 比如范围为3，间隔为1，Y方向会有4条线段
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return int(xWorkRange/xInterval)+1;
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}
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int RSCompCode::getLookupCols()
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{
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return int(yWorkRange/yInterval)+1;
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}
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QString RSCompCode::getCode()
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{
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QString code = QString("global real LookupTable(%1)(%2)\n").arg(getLookupRows()).arg(getLookupCols());
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code +=
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// 设置APOS和RPOS非默认连接
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"MFLAGS(Z).#DEFCON = 0\n"
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"CONNECT RPOS(Z) = RPOS(Z)\n"
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// 执行connect命令后控制其将电机依赖重置为默认值
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// 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
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"DEPENDS Z, Z\n"+
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// 防止开启补偿的瞬间Z1轴跳动
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//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)+
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//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)+
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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)+
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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)+
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"DEPENDS Z, Z\n"
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"runF = 1\n"
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"STOP";
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return code;
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}
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