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#pragma once
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#ifndef _INCLUDE_MOTOR_GUGAO_AXIS_H
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#define _INCLUDE_MOTOR_GUGAO_AXIS_H
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#include "CardService.h"
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enum EHomeType
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{//回原方式
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EHOME_CAPTURE = 0, //硬件捕获回原
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EHOME_ECAPTURE, //伺服捕获回原
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EHOME_NORMAL, //普通回原
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EHOME_EINDEX, //INDEX捕获回原
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};
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class CAxis
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{
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public:
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CAxis(ushort cardIndex, ushort axisIndex);
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~CAxis();
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void SetArrive(bool bcheck) { m_bCheckArrive = bcheck; }
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int Init();
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int On();
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int Off();
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int Reset();
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int Home(ushort homeType, long pos, long offset, double vel); //回原
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int SetZeroPos(); //清除位置信息;(清零规划位置和实际位置,设置机械原点)
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int SetSpeed(double vel, int bchange = 0); //设置单轴速度
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int SetPos(long pos); //设置目标位置并运动
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int MovePos(long pos, double vel, double acc, double dec); //移动到指定位置,运动中可更换指令
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int MoveOffset(long offset, double vel, double acc, double dec); //移动相对位置
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int MoveJog(int dir, double vel, double acc, double dec); //连续移动
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double GetCurPos(EMPosType postype); //获取当前位置
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int IsMoving();
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int Stop(int type = 0); //停止运动, 包括回原
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ushort GetCardIndex() { return m_cardIndex; }
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ushort GetAxisIndex() { return m_axisIndex; }
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int GearMove(CAxis* pAxis, int iGearType, double ratio, long masterSlope = 0);
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protected:
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void StopAndWait(int type = 0); //停止并等待停稳
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int StopMove(int type = 0); //停止运动
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int homeSts(ushort *pStatus); //获取回原点状态
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int ClearStatus(); // 清除轴状态
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int isRealMoving(); //判断实际是否在运动中
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int HomeAsCapture(long homePos, long offset, double vel, int type = 0); //捕获回原
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int HomeAsIndex(long homePos, long offset, long doffset);
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int HomeAsNormal(long homePos, long offset, double vel); //正常回原
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bool WaitExitMoveSign(int iWait); //等待运动退出信号，若返回true，则说明有退出信号
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private:
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Handle m_hQuitEvt; //退出回原句柄
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Handle m_hHomeFinishedEvt; //回原函数退出事件
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bool m_bInit; //是否使能
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bool m_bCheckArrive; //是否检测到位信号
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ushort m_cardIndex;
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ushort m_axisIndex;
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};
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#endif //防止重复包含
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