updown/plugin/motor_gugao/Axis.h

#pragma once
#ifndef _INCLUDE_MOTOR_GUGAO_AXIS_H
#define _INCLUDE_MOTOR_GUGAO_AXIS_H
#include "CardService.h"

enum EHomeType
{//<2F><>ԭ<EFBFBD><D4AD>ʽ
    EHOME_CAPTURE = 0,  //Ӳ<><D3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ
    EHOME_ECAPTURE,     //<2F>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ
    EHOME_NORMAL,       //<2F><>ͨ<EFBFBD><CDA8>ԭ
    EHOME_EINDEX,       //INDEX<45><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ
};

class CAxis
{
public:
    CAxis(ushort cardIndex, ushort axisIndex);
    ~CAxis();

    void SetArrive(bool bcheck) { m_bCheckArrive = bcheck; }

    int Init();
    int On();
    int Off();
    int Reset();
    int Home(ushort homeType, long pos, long offset, double vel);    //<2F><>ԭ
    int SetZeroPos();           //<2F><><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD>Ϣ;(<28><><EFBFBD><EFBFBD><EFBFBD>滮λ<E6BBAE>ú<EFBFBD>ʵ<EFBFBD><CAB5>λ<EFBFBD><CEBB>,<2C><><EFBFBD>û<EFBFBD>еԭ<D0B5><D4AD>)
    int SetSpeed(double vel, int bchange = 0);      //<2F><><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD>ٶ<EFBFBD>
    int SetPos(long pos);   //<2F><><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF>λ<EFBFBD>ò<EFBFBD><C3B2>˶<EFBFBD>
    int MovePos(long pos, double vel, double acc, double dec);          //<2F>ƶ<EFBFBD><C6B6><EFBFBD>ָ<EFBFBD><D6B8>λ<EFBFBD><CEBB>,<2C>˶<EFBFBD><CBB6>пɸ<D0BF><C9B8><EFBFBD>ָ<EFBFBD><D6B8>
    int MoveOffset(long offset, double vel, double acc, double dec);    //<2F>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
    int MoveJog(int dir, double vel, double acc, double dec);           //<2F><><EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD>

    double GetCurPos(EMPosType postype);  //<2F><>ȡ<EFBFBD><C8A1>ǰλ<C7B0><CEBB>

    int IsMoving();

    int Stop(int type = 0);        //ֹͣ<CDA3>˶<EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ

    ushort GetCardIndex() { return m_cardIndex; }
    ushort GetAxisIndex() { return m_axisIndex; }

    int GearMove(CAxis* pAxis, int iGearType, double ratio, long masterSlope = 0);

protected:

    void StopAndWait(int type = 0); //ֹͣ<CDA3><D6B9><EFBFBD>ȴ<EFBFBD>ͣ<EFBFBD><CDA3>
    int StopMove(int type = 0);     //ֹͣ<CDA3>˶<EFBFBD>

    int homeSts(ushort *pStatus);   //<2F><>ȡ<EFBFBD><C8A1>ԭ<EFBFBD><D4AD>״̬
    int ClearStatus();          // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
    int isRealMoving();         //<2F>ж<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD>
    int HomeAsCapture(long homePos, long offset, double vel, int type = 0); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ
    int HomeAsIndex(long homePos, long offset, long doffset);
    int HomeAsNormal(long homePos, long offset, double vel);    //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ

    bool WaitExitMoveSign(int iWait);   //<2F>ȴ<EFBFBD><C8B4>˶<EFBFBD><CBB6>˳<EFBFBD><CBB3>źţ<C5BA><C5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>true<75><65><EFBFBD><EFBFBD>˵<EFBFBD><CBB5><EFBFBD><EFBFBD><EFBFBD>˳<EFBFBD><CBB3>ź<EFBFBD>

private:

    Handle  m_hQuitEvt;         //<2F>˳<EFBFBD><CBB3><EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD>
    Handle  m_hHomeFinishedEvt; //<2F><>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD>˳<EFBFBD><CBB3>¼<EFBFBD>
    bool    m_bInit;            //<2F>Ƿ<EFBFBD>ʹ<EFBFBD><CAB9>
    bool    m_bCheckArrive;     //<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>⵽λ<E2B5BD>ź<EFBFBD>

    ushort  m_cardIndex;
    ushort  m_axisIndex;
};


#endif  //<2F><>ֹ<EFBFBD>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD><EFBFBD>