注：由于电机不带编码器，无法做home和当前位置信息读取！
功能：
三个轴的点位运动：前进+后退，并分别显示每个轴的移动脉冲数(可以换算为距离)！
开发环境：VS2017
硬件设备：固高科技三维移动平台
在上一版上添加了如下功能：
记录每次运行的距离，即使关闭软件，也能记录当前距离原点的距离(原点首次得在机台选定)
运行超出机台的最大距离后停止运动.
源码：
using System; using System.Windows.Forms; using gts; using System.Xml; using System.Collections.Generic;namespace 三维平移台控制系统 {public partial class mainFrom : DevComponents.DotNetBar.OfficeForm{public mainFrom() {this.EnableGlass = false;InitializeComponent();}short Rtn;int vel = 0;int[] pos= {0,0,0 };int[] pos1 = { 0, 0, 0 };bool flag = false;uint clk;double prfpos, prfvel, encpos, encvel;short AXIS = 1;int X = 0;int Y = 0;int Z = 0;private void buttonX1_Click(object sender, EventArgs e) {mc.GT_ZeroPos(AXIS, 1);//for (int i=0; i<3;i++)//{// pos1[i] += pos[i];//}pos1[AXIS - 1] += pos[AXIS - 1];pos[AXIS-1] = 0;}private void buttonX2_Click(object sender, EventArgs e) {//Rtn = mc.GT_Close();Rtn = mc.GT_PrfTrap(AXIS);mc.TTrapPrm trapprm;mc.GT_GetTrapPrm(AXIS, out trapprm);trapprm.acc = 0.1;//设置加速度trapprm.dec = 0.1;//设置减速度trapprm.smoothTime = 1;mc.GT_SetTrapPrm(AXIS, ref trapprm);pos[AXIS-1] += Convert.ToInt32(textBoxX1.Text)*500;vel = Convert.ToInt32(textBoxX2.Text)*2;mc.GT_SetPos(AXIS, pos[AXIS-1]);mc.GT_SetVel(AXIS, vel);// mc.GT_Update(AXIS);mc.GT_Update(1 << (AXIS - 1));//MessageBox.Show((1 << (AXIS - 1)).ToString());}private void buttonX3_Click(object sender, EventArgs e) {//Rtn = mc.GT_Close();Rtn = mc.GT_PrfTrap(AXIS);mc.TTrapPrm trapprm;mc.GT_GetTrapPrm(AXIS, out trapprm);trapprm.acc = 0.1;trapprm.dec = 0.1;trapprm.smoothTime = 1;mc.GT_SetTrapPrm(AXIS, ref trapprm);pos[AXIS-1] -= Convert.ToInt32(textBoxX1.Text)*500;vel = Convert.ToInt32(textBoxX2.Text)*2;mc.GT_SetPos(AXIS, pos[AXIS-1]);mc.GT_SetVel(AXIS, vel);//mc.GT_Update(AXIS);mc.GT_Update(1 << (AXIS - 1));}private void timer1_Tick(object sender, EventArgs e) {//if ()//{// mc.GT_GetPrfPos(AXIS, out prfpos, 1, out clk);// profile 起始轴号// mc.GT_GetEncPos(AXIS, out encpos, 1, out clk);// encoder 起始轴号// textBox3.Text = prfpos.ToString();// textBox5.Text = encpos.ToString();// mc.GT_GetPrfVel(AXIS, out prfvel, 1, out clk);// 起始规划轴号// mc.GT_GetEncVel(AXIS, out encvel, 1, out clk);// encoder 起始轴号// textBox4.Text = prfvel.ToString();// textBox6.Text = encvel.ToString();//}List<KeyValuePair<string, string>> settings = new List<KeyValuePair<string, string>>();KeyValuePair<string, string> kv = new KeyValuePair<string, string>("", "");mc.GT_GetPrfPos(AXIS, out prfpos, 1, out clk);// profile 起始轴号mc.GT_GetPrfVel(AXIS, out prfvel, 1, out clk);// 起始规划轴号if (AXIS == 1){labelX4.Text = "规划位置 : " + (prfpos / 500).ToString() + " mm";labelX5.Text = "规划速度 : " + (prfvel / 2).ToString() + " mm/s";kv = new KeyValuePair<string, string>("X", ((prfpos + pos1[0]) / 500 +X).ToString());settings.Add(kv);labelX10.Text = "距离原点 : " + ((prfpos + pos1[0])/500 + X).ToString() + " mm";if ((prfpos + pos1[0]) / 500 + X > 850)mc.GT_Stop(AXIS, 0);}else if (AXIS == 2){labelX6.Text = "规划位置 : " + (prfpos / 500).ToString() + " mm";labelX7.Text = "规划速度 : " + (prfvel / 2).ToString() + " mm/s";kv = new KeyValuePair<string, string>("Y", ((prfpos + pos1[1]) / 500 + Y).ToString());settings.Add(kv);labelX11.Text = "距离原点 : " + ((prfpos + pos1[1]) / 500 + Y).ToString() + " mm";if ((prfpos + pos1[1]) / 500 + Y > 500)mc.GT_Stop(AXIS, 0);}else if (AXIS == 3){labelX8.Text = "规划位置 : " + (prfpos / 500).ToString() + " mm";labelX9.Text = "规划速度 : " + (prfvel / 2).ToString() + " mm/s";kv = new KeyValuePair<string, string>("Z", ((prfpos + pos1[2]) / 500 + Z).ToString());settings.Add(kv);labelX12.Text = "距离原点 : " + ((prfpos + pos1[2]) / 500 + Z).ToString() + " mm";if ((prfpos + pos1[2]) / 500 + Z > 500)mc.GT_Stop(AXIS, 0);}SaveSettings(settings);}private void ReadConfigXML() {XmlDocument xmlDoc = new XmlDocument();xmlDoc.Load(AppDomain.CurrentDomain.BaseDirectory + "\\config.xml");XmlNode settingNode = xmlDoc.DocumentElement;XmlElement e = settingNode.SelectSingleNode("X") as XmlElement;if (e == null){X = 0;}else{int val = 0;if (!int.TryParse(e.InnerText, out val)){X = 0;}else{X = val;}}e = settingNode.SelectSingleNode("Y") as XmlElement;if (e == null){Y = 0;}else{int val = 0;if (!int.TryParse(e.InnerText, out val)){Y = 0;}else{Y = val;}}e = settingNode.SelectSingleNode("Z") as XmlElement;if (e == null){Z = 0;}else{int val = 0;if (!int.TryParse(e.InnerText, out val)){Z = 0;}else{Z = val;}}}private void mainFrom_Load(object sender, EventArgs e) {comboBoxEx1.SelectedIndex = 0;textBoxX1.Text = "4";textBoxX2.Text = "5";labelX4.Text = "规划位置 : " + (0).ToString() + " mm";labelX5.Text = "规划速度 : " + (0).ToString() + " mm/s";labelX6.Text = "规划位置 : " + (0).ToString() + " mm";labelX7.Text = "规划速度 : " + (0).ToString() + " mm/s";labelX8.Text = "规划位置 : " + (0).ToString() + " mm";labelX9.Text = "规划速度 : " + (0).ToString() + " mm/s";/*初始化*/Rtn = mc.GT_Open(0, 1);Rtn = mc.GT_Reset();Rtn = mc.GT_LoadConfig("GTS800.cfg"); ;Rtn = mc.GT_ClrSts(1, 8); //axis 起始轴号，count ReadConfigXML();labelX10.Text = "距离原点 : " + (X).ToString() + " mm";labelX11.Text = "距离原点 : " + (Y).ToString() + " mm";labelX12.Text = "距离原点 : " + (Z).ToString() + " mm";labelX13.Text = "最大距离 : " + (850).ToString() + " mm";labelX14.Text = "最大距离 : " + (500).ToString() + " mm";labelX15.Text = "最大距离 : " + (500).ToString() + " mm";timer1.Enabled = true;}private void buttonX4_Click(object sender, EventArgs e) {mc.GT_Stop(AXIS, 0);}private void comboBoxEx1_SelectedIndexChanged(object sender, EventArgs e) {switch (comboBoxEx1.SelectedItem.ToString()){case "X轴":AXIS = 1; break;case "Y轴":AXIS = 2; break;case "Z轴":AXIS = 3; break;default:break;}}public static void SaveSettings(List<KeyValuePair<string, string>> settings) {try{string docPath = AppDomain.CurrentDomain.BaseDirectory + "\\config.xml";XmlDocument xmlDoc = new XmlDocument();xmlDoc.Load(docPath);XmlNode settingNode = xmlDoc.DocumentElement;if (settingNode == null)return;foreach (var kv in settings){SetNodeValue(xmlDoc, settingNode, kv.Key, kv.Value);}xmlDoc.Save(docPath);}catch { }}private static void SetNodeValue(XmlDocument XmlDoc, XmlNode rootnode, string key, string value) {try{XmlElement e = rootnode.SelectSingleNode(key) as XmlElement;if (e == null){XmlNode node = XmlDoc.CreateNode(XmlNodeType.Element, key, "");node.InnerText = value;rootnode.AppendChild(node);}else{e.InnerText = value;}}catch { }}} }
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