RealSys.MotionPlat/Rs.MotionPlat/Commom/NozzleHelper.cs

using Rs.Controls;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.MotionPlat.Commom
{
    public static class NozzleHelper
    {
        public static double GetNozzle2CameraDistX(int nozzleIndex)
        {
            //先计算吸嘴1到相机中心的距离
            double nozzle12CameraDist = SysConfigParam.GetValue<double>("InkpadX") - SysConfigParam.GetValue<double>("CameraInkpadX");
            //在计算指定吸嘴到吸嘴1的距离
            double nozzle2Nozzle1Dist= SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterX") - SysConfigParam.GetValue<double>("Nozzle1CenterX");
            return nozzle12CameraDist + nozzle2Nozzle1Dist;
        }

        public static double GetNozzle2CameraDistY(int nozzleIndex)
        {
            //先计算吸嘴1到相机中心的距离
            double nozzle12CameraDist = SysConfigParam.GetValue<double>("InkpadY") - SysConfigParam.GetValue<double>("CameraInkpadY");
            //在计算指定吸嘴到吸嘴1的距离
            double nozzle2Nozzle1Dist = SysConfigParam.GetValue<double>($"Nozzle{nozzleIndex}CenterY") - SysConfigParam.GetValue<double>("Nozzle1CenterY");
            return nozzle12CameraDist + nozzle2Nozzle1Dist;
        }

        /// <summary>
        /// 获取吸嘴下压的偏移高度
        /// </summary>
        /// <param name="fetchNum"></param>
        /// <returns></returns>
        private static double GetNozzleOffsetHeight(int fetchNum)
        {
            switch (fetchNum)
            {
                case 0:
                    return 0;
                case 1:
                    return -0.1;
                case 2:
                    return -0.2;
                case 3:
                    return -0.3;
                case 4:
                    return 0.1;
                case 5:
                    return 0.2;
                case 6:
                    return 0.3;
                default:
                    return 0;
            }
        }
    }
}