RealSys.MotionPlat/Rs.MotionPlat/Flow/Space/ZRTest.cs

using Rs.Framework;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Flow.Space
{
    public class ZRTest:BaseFlow
    {
        private static ZRTest _instance;
        public static ZRTest Instance
        {
            get
            {
                if(_instance==null)
                {
                    _instance = new ZRTest();
                }
                return _instance;
            }
        }

        int step = 0;
        public override void Run()
        {
           switch (step)
            {
                case 0:
                    for(int i=1;i<=9;i++)
                    {
                        AxisControl.GetAxis($"NozzleZ{i}").MovePos(0, GlobalVar.WholeSpeed);
                        AxisControl.GetAxis($"NozzleR{i}").MovePos(0, GlobalVar.WholeSpeed);
                    }
                    step++;
                    break;
                case 1:
                    if(Ops.AllZStoped()&&Ops.AllRStoped())
                    {
                        step++;
                    }
                    break;
                case 2:
                    for (int i = 1; i <= 9; i++)
                    {
                        AxisControl.GetAxis($"NozzleZ{i}").MovePos(-10, GlobalVar.WholeSpeed);
                        AxisControl.GetAxis($"NozzleR{i}").MovePos(360, GlobalVar.WholeSpeed);
                    }
                    step++;
                    break;
                case 3:
                    if (Ops.AllZStoped() && Ops.AllRStoped())
                    {
                        step = 0;
                    }
                    break;

            }
        }
    }
}