From 5bdaee2dcd1be441968f07371a5434773b178ad2 Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Tue, 3 Dec 2024 08:36:27 +0800
Subject: [PATCH] =?UTF-8?q?=E8=BD=B4=E5=A2=9E=E5=8A=A0=E5=B9=B3=E6=BB=91?=
 =?UTF-8?q?=E5=81=9C=E6=AD=A2=E5=92=8C=E7=B4=A7=E6=80=A5=E5=81=9C=E6=AD=A2?=
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---
 Rs.Motion/Base/IAxis.cs                |  2 +-
 Rs.Motion/GugaoEcat/GugaoAxis.cs       | 12 ++++++++++--
 Rs.Motion/GugaoPulse/GugaoPulseAxis.cs | 18 ++++++++++++++++--
 Rs.Motion/Leisai/LeisaiAxis.cs         | 11 +++++++++--
 Rs.Motion/Ztm/ZtmAxis.cs               | 11 +++++++++--
 5 files changed, 45 insertions(+), 9 deletions(-)

diff --git a/Rs.Motion/Base/IAxis.cs b/Rs.Motion/Base/IAxis.cs
index 3027f11..b8f496d 100644
--- a/Rs.Motion/Base/IAxis.cs
+++ b/Rs.Motion/Base/IAxis.cs
@@ -71,7 +71,7 @@ namespace Rs.Motion.Base
             return ErrorCode.Ok;
         }
 
-        public virtual ErrorCode Stop()
+        public virtual ErrorCode Stop(bool smoothStop = true)
         {
             return ErrorCode.Ok;
         }
diff --git a/Rs.Motion/GugaoEcat/GugaoAxis.cs b/Rs.Motion/GugaoEcat/GugaoAxis.cs
index 52b2cb1..96b9144 100644
--- a/Rs.Motion/GugaoEcat/GugaoAxis.cs
+++ b/Rs.Motion/GugaoEcat/GugaoAxis.cs
@@ -189,7 +189,7 @@ namespace Rs.Motion.GugaoEcat
         /// 停止运动
         /// </summary>
         /// <returns></returns>
-        public override ErrorCode Stop()
+        public override ErrorCode Stop(bool smoothStop = true)
         {
             if (!cardManager.IsInitialized)
             {
@@ -197,7 +197,15 @@ namespace Rs.Motion.GugaoEcat
             }
             //int axes = 1 << m_axis_config.AxisId;
             //int option = 1 << m_axis_config.AxisId;
-            apiResult = mc_ecat.GTN_Stop(core, 1 << Config.AxisId - 1, 1 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            if(smoothStop)
+            {
+                apiResult = mc_ecat.GTN_Stop(core, 1 << Config.AxisId - 1, 0 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            }
+            else
+            {
+                apiResult = mc_ecat.GTN_Stop(core, 1 << Config.AxisId - 1, 1 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            }
+            
             if (apiResult != 0)
                 return ErrorCode.Fail;
             else
diff --git a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
index a590acd..6b01322 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseAxis.cs
@@ -231,7 +231,7 @@ namespace Rs.Motion.GugaoPulse
         /// 停止运动
         /// </summary>
         /// <returns></returns>
-        public override ErrorCode Stop()
+        public override ErrorCode Stop(bool smoothStop=true)
         {
             if (!cardManager.IsInitialized)
             {
@@ -239,7 +239,15 @@ namespace Rs.Motion.GugaoPulse
             }
             //int axes = 1 << m_axis_config.AxisId;
             //int option = 1 << m_axis_config.AxisId;
-            apiResult = mc_pulse.GT_Stop((short)Config.CardId, 1 << Config.AxisId - 1, 1 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            if(smoothStop)
+            {
+                apiResult = mc_pulse.GT_Stop((short)Config.CardId, 1 << Config.AxisId - 1, 0 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            }
+            else
+            {
+                apiResult = mc_pulse.GT_Stop((short)Config.CardId, 1 << Config.AxisId - 1, 1 << Config.AxisId - 1);//option 对应位1表示紧急停止 0 为平滑停止
+            }
+            
             if (apiResult != 0)
                 return ErrorCode.Fail;
             else
@@ -376,6 +384,12 @@ namespace Rs.Motion.GugaoPulse
             trapPrm.acc = fAcc;
             trapPrm.dec = fDec;
             trapPrm.velStart = fStart;
+            short smoothtime = (short)(Config.STime * 1000);
+            if(smoothtime>50)
+            {
+                smoothtime=50;
+            }
+            trapPrm.smoothTime = smoothtime;
             apiResult = mc_pulse.GT_SetTrapPrm((short)Config.CardId, (short)Config.AxisId, ref trapPrm);//设置点位运动参数
             if (apiResult != 0)
             {
diff --git a/Rs.Motion/Leisai/LeisaiAxis.cs b/Rs.Motion/Leisai/LeisaiAxis.cs
index 765185e..a2f0997 100644
--- a/Rs.Motion/Leisai/LeisaiAxis.cs
+++ b/Rs.Motion/Leisai/LeisaiAxis.cs
@@ -151,13 +151,20 @@ namespace Rs.Motion.Leisai
         /// 停止运动
         /// </summary>
         /// <returns></returns>
-        public override ErrorCode Stop()
+        public override ErrorCode Stop(bool smoothStop = true)
         {
             if (!cardManager.IsInitialized)
             {
                 return ErrorCode.CardNotInit;
             }
-            apiResult = LTDMC.dmc_stop(Config.CardId, Config.AxisId, 0);
+            if(smoothStop)
+            {
+                apiResult = LTDMC.dmc_stop(Config.CardId, Config.AxisId, 0);
+            }
+            else
+            {
+                apiResult = LTDMC.dmc_stop(Config.CardId, Config.AxisId, 1);
+            }
             if (apiResult != 0)
                 return ErrorCode.Fail;
             else
diff --git a/Rs.Motion/Ztm/ZtmAxis.cs b/Rs.Motion/Ztm/ZtmAxis.cs
index 915ba2e..aa2a032 100644
--- a/Rs.Motion/Ztm/ZtmAxis.cs
+++ b/Rs.Motion/Ztm/ZtmAxis.cs
@@ -246,13 +246,20 @@ namespace Rs.Motion.GugaoEcat
         /// 停止运动
         /// </summary>
         /// <returns></returns>
-        public override ErrorCode Stop()
+        public override ErrorCode Stop(bool smoothStop = true)
         {
             if (!cardManager.IsInitialized)
             {
                 return ErrorCode.CardNotInit;
             }
-            m_apiResult = ZTM.ZT_Stop(Config.CardMc, (uint)(1<<Config.AxisId));
+            if(smoothStop)
+            {
+                m_apiResult = ZTM.ZT_Stop(Config.CardMc, (uint)(1 << Config.AxisId));
+            }
+            else
+            {
+                m_apiResult = ZTM.ZT_EStop(Config.CardMc, (uint)(1 << Config.AxisId));
+            }
             if (m_apiResult != 0)
                 return ErrorCode.Fail;
             else