晶圆传输机器人振动分析与轨迹控制

-图3-3。图3-SEQ图3-\*ARABIC3电机调试界面电机详细程序如下：//MOVEDlg.cpp:implementationfile//#include"stdafx.h"#include"MOVE.h"#include"MOVEDlg.h"#include<math.h>#include<fstream.h>#include<windows.h>//通讯方式#definePMD_W32SERIAL_INTERFACE#definePMD_ISA_INTERFACE#definepi3.1415926536#include"C-Motion.h"#include"PMDutil.h"#include"PMDMotorSetup_Magellan.h"#include"PMDMB.h"#include"PMDW32Ser.h"#ifdef_DEBUG#definenewDEBUG_NEW#undefTHIS_FILEstaticcharTHIS_FILE[]=__FILE__;#endif//theaxishandleobjectPMDAxisHandlehAxis1,hAxis2;//hAxis1.axis=1;doubleP,V,V0,A,D,J;//单位为counts、counts/cycle、counts/cycle^2、counts/cycle^3intloop_index=0,MoveStep=0;//扫描完成标志与插补步数doubleq2[4000]={0},q3[4000]={0},q2v[4000]={0},q3v[4000]={0},q2a=4E8,q3a=4E8;//两电机运动信息///////////////////////////////////////////////////////////////////////////////CAboutDlgdialogusedforAppAboutclassCAboutDlg:publicCDialog{public: CAboutDlg();//DialogData //{{AFX_DATA(CAboutDlg) enum{IDD=IDD_ABOUTBOX}; //}}AFX_DATA //ClassWizardgeneratedvirtualfunctionoverrides //{{AFX_VIRTUAL(CAboutDlg) protected: virtualvoidDoDataExchange(CDataExchange*pDX);//DDX/DDVsupport //}}AFX_VIRTUAL//Implementationprotected: //{{AFX_MSG(CAboutDlg) //}}AFX_MSG DECLARE_MESSAGE_MAP()};CAboutDlg::CAboutDlg():CDialog(CAboutDlg::IDD){ //{{AFX_DATA_INIT(CAboutDlg) //}}AFX_DATA_INIT}voidCAboutDlg::DoDataExchange(CDataExchange*pDX){ CDialog::DoDataExchange(pDX); //{{AFX_DATA_MAP(CAboutDlg) //}}AFX_DATA_MAP}BEGIN_MESSAGE_MAP(CAboutDlg,CDialog) //{{AFX_MSG_MAP(CAboutDlg) //Nomessagehandlers //}}AFX_MSG_MAPEND_MESSAGE_MAP()///////////////////////////////////////////////////////////////////////////////CMOVEDlgdialogCMOVEDlg::CMOVEDlg(CWnd*pParent/*=NULL*/) :CDialog(CMOVEDlg::IDD,pParent){ //{{AFX_DATA_INIT(CMOVEDlg) m_Kd=0; m_Axis=0; m_Prompt=_T(""); m_Ser=-1; m_MotorType=_T(""); m_Encoder=_T(""); m_MoveType=0; m_Ki=0; m_Kvff=0; m_Kaff=0; m_StopMode=1; m_Kp=0; m_EPID=FALSE; m_ETrajectory=FALSE; m_EMotor=FALSE; m_WorkStatus=_T(""); m_ActivityStatus=_T(""); m_EPID1=FALSE; m_EPID2=FALSE; m_ETrajectory1=FALSE; m_ETrajectory2=FALSE; m_EMotor1=FALSE; m_EMotor2=FALSE; m_ActivityStatus2=_T(""); m_Kaff1=0; m_Kaff2=0; m_Kd1=0; m_Kd2=0; m_Ki1=0; m_Ki2=0; m_Kp1=0; m_Kp2=0; m_Kvff1=0; m_Kvff2=0; m_Station2_X=0; m_Station2_Y=0; m_Station1_X=0; m_Station1_Y=0; m_Pulse=0; m_EncoderCounts=0; m_T2R=0; m_Zero1=0; m_Zero2=0; m_EncoderCounts2=0; m_T=-1; m_MoveTime=0; //}}AFX_DATA_INIT //NotethatLoadIcondoesnotrequireasubsequentDestroyIconinWin32 m_hIcon=AfxGetApp()->LoadIcon(IDR_MAINFRAME);}voidCMOVEDlg::DoDataExchange(CDataExchange*pDX){ CDialog::DoDataExchange(pDX); //{{AFX_DATA_MAP(CMOVEDlg) DDX_Text(pDX,IDC_Kd,m_Kd); DDX_Radio(pDX,IDC_Axis1,m_Axis); DDX_Text(pDX,IDC_Prompt,m_Prompt); DDX_Radio(pDX,IDC_Ser,m_Ser); DDX_CBString(pDX,IDC_MotorType,m_MotorType); DDX_CBString(pDX,IDC_Encoder,m_Encoder); DDX_Radio(pDX,IDC_Move_T,m_MoveType); DDX_Text(pDX,IDC_Ki,m_Ki); DDX_Text(pDX,IDC_Kvff,m_Kvff); DDX_Text(pDX,IDC_Kaff,m_Kaff); DDX_Radio(pDX,IDC_Stop_Smooth,m_StopMode); DDX_Text(pDX,IDC_Kp,m_Kp); DDX_Check(pDX,IDC_EPID,m_EPID); DDX_Check(pDX,IDC_ETrajectory,m_ETrajectory); DDX_Check(pDX,IDC_EMotor,m_EMotor); DDX_Text(pDX,IDC_WorkStatus,m_WorkStatus); DDX_Text(pDX,IDC_ActivityStatus,m_ActivityStatus); DDX_Check(pDX,IDC_EPID1,m_EPID1); DDX_Check(pDX,IDC_EPID2,m_EPID2); DDX_Check(pDX,IDC_ETrajectory1,m_ETrajectory1); DDX_Check(pDX,IDC_ETrajectory2,m_ETrajectory2); DDX_Check(pDX,IDC_EMotor1,m_EMotor1); DDX_Check(pDX,IDC_EMotor2,m_EMotor2); DDX_Text(pDX,IDC_ActivityStatus2,m_ActivityStatus2); DDX_Text(pDX,IDC_Kaff1,m_Kaff1); DDX_Text(pDX,IDC_Kaff2,m_Kaff2); DDX_Text(pDX,IDC_Kd1,m_Kd1); DDX_Text(pDX,IDC_Kd2,m_Kd2); DDX_Text(pDX,IDC_Ki1,m_Ki1); DDX_Text(pDX,IDC_Ki2,m_Ki2); DDX_Text(pDX,IDC_Kp1,m_Kp1); DDX_Text(pDX,IDC_Kp2,m_Kp2); DDX_Text(pDX,IDC_Kvff1,m_Kvff1); DDX_Text(pDX,IDC_Kvff2,m_Kvff2); DDX_Text(pDX,IDC_Station2_X,m_Station2_X); DDX_Text(pDX,IDC_Station2_Y,m_Station2_Y); DDX_Text(pDX,IDC_Station1_X,m_Station1_X); DDX_Text(pDX,IDC_Station1_Y,m_Station1_Y); DDX_Text(pDX,IDC_Pulse,m_Pulse); DDX_Text(pDX,IDC_EncoderCounts,m_EncoderCounts); DDX_Text(pDX,IDC_T2R,m_T2R); DDX_Text(pDX,IDC_Zero1,m_Zero1); DDX_Text(pDX,IDC_Zero2,m_Zero2); DDX_Text(pDX,IDC_EncoderCounts2,m_EncoderCounts2); DDX_Radio(pDX,IDC_T1,m_T); DDX_Text(pDX,IDC_MoveTime,m_MoveTime); //}}AFX_DATA_MAP}BEGIN_MESSAGE_MAP(CMOVEDlg,CDialog) //{{AFX_MSG_MAP(CMOVEDlg) ON_WM_SYSCOMMAND() ON_WM_PAINT() ON_WM_QUERYDRAGICON() ON_BN_CLICKED(IDC_Ser,OnSer) ON_BN_CLICKED(IDC_Axis1,OnAxis1) ON_BN_CLICKED(IDC_Axis2,OnAxis2) ON_BN_CLICKED(IDC_Axis3,OnAxis3) ON_BN_CLICKED(IDC_Axis4,OnAxis4) ON_BN_CLICKED(IDC_Disconnect,OnDisconnect) ON_BN_CLICKED(IDC_LoadSettings,OnLoadSettings) ON_BN_CLICKED(IDC_Move_T,OnMoveT) ON_BN_CLICKED(IDC_Move_S,OnMoveS) ON_BN_CLICKED(IDC_Move_V,OnMoveV) ON_BN_CLICKED(IDC_Stop_Smooth,OnStopSmooth) ON_BN_CLICKED(IDC_Stop_Sudden,OnStopSudden) ON_BN_CLICKED(IDC_MotorMove,OnMotorMove) ON_WM_TIMER() ON_BN_CLICKED(IDC_MotorStop,OnMotorStop) ON_BN_CLICKED(IDC_EPID,OnEpid) ON_BN_CLICKED(IDC_ETrajectory,OnETrajectory) ON_BN_CLICKED(IDC_EMotor,OnEMotor) ON_BN_CLICKED(IDC_Axis5,OnAxis5) ON_BN_CLICKED(IDC_PC104,OnPc104) ON_BN_CLICKED(IDC_MotorMove2,OnMotorMove2) ON_BN_CLICKED(IDC_EPID1,OnEpid1) ON_BN_CLICKED(IDC_ETrajectory1,OnETrajectory1) ON_BN_CLICKED(IDC_EMotor1,OnEMotor1) ON_BN_CLICKED(IDC_EPID2,OnEpid2) ON_BN_CLICKED(IDC_ETrajectory2,OnETrajectory2) ON_BN_CLICKED(IDC_EMotor2,OnEMotor2) ON_BN_CLICKED(IDC_T1,OnT1) ON_BN_CLICKED(IDC_T2,OnT2) ON_BN_CLICKED(IDC_T3,OnT3) ON_BN_CLICKED(IDC_MotorMove2_Reset,OnMotorMove2Reset) //}}AFX_MSG_MAPEND_MESSAGE_MAP()///////////////////////////////////////////////////////////////////////////////CMOVEDlgmessagehandlers//自己定义的权限释放函数,在此不用/*doeventc(floatxjs){ CTimetrw=CTime::GetCurrentTime(); while(1) { MSGmessage; while(PeekMessage(&message,NULL,0,0,PM_REMOVE)) { TranslateMessage(&message); DispatchMessage(&message); } if(CTime::GetCurrentTime()-trw>xjs) break; //Sleep(1); } }*///原机械手权限释放函数voidDoEvents(){ MSGmessage; while(PeekMessage(&message,NULL,0,0,PM_REMOVE)) { TranslateMessage(&message); DispatchMessage(&message); }}//精确定时函数boolXJStimer(floattime){ LARGE_INTEGERlitmp; LONGLONGQPart1,QPart2; doubledfMinus,dfFreq,dfTim; QueryPerformanceFrequency(&litmp); dfFreq=(double)litmp.QuadPart;//获得计数器的时钟频率 QueryPerformanceCounter(&litmp); QPart1=litmp.QuadPart;//获得初始值 do{ QueryPerformanceCounter(&litmp); QPart2=litmp.QuadPart;//获得终止值 dfMinus=(double)(QPart2-QPart1); dfTim=dfMinus/dfFreq;//获得对应的时间值，单位为秒 }while(dfTim<0.001*time); returnTRUE;}BOOLCMOVEDlg::OnInitDialog(){ CDialog::OnInitDialog(); //Add"About..."menuitemtosystemmenu. //IDM_ABOUTBOXmustbeinthesystemcommandrange. ASSERT((IDM_ABOUTBOX&0xFFF0)==IDM_ABOUTBOX); ASSERT(IDM_ABOUTBOX<0xF000); CMenu*pSysMenu=GetSystemMenu(FALSE); if(pSysMenu!=NULL) { CStringstrAboutMenu; strAboutMenu.LoadString(IDS_ABOUTBOX); if(!strAboutMenu.IsEmpty()) { pSysMenu->AppendMenu(MF_SEPARATOR); pSysMenu->AppendMenu(MF_STRING,IDM_ABOUTBOX,strAboutMenu); } } //Settheiconforthisdialog.Theframeworkdoesthisautomatically //whentheapplication'smainwindowisnotadialog SetIcon(m_hIcon,TRUE); //Setbigicon SetIcon(m_hIcon,FALSE); //Setsmallicon //TODO:Addextrainitializationhere SetDlgItemText(IDC_Prompt,"Pleaseselectaxisnumberfirst.");//先选择轴号 GetDlgItem(IDC_MotorMove)->EnableWindow(FALSE);//开始按钮无效 GetDlgItem(IDC_MotorMove2)->EnableWindow(FALSE); GetDlgItem(IDC_MotorMove2_Reset)->EnableWindow(FALSE); GetDlgItem(IDC_MotorStop)->EnableWindow(FALSE); GetDlgItem(IDC_LoadSettings)->EnableWindow(FALSE); GetDlgItem(IDC_Disconnect)->EnableWindow(FALSE); ((CComboBox*)GetDlgItem(IDC_MotorType))->AddString("BrushlessDC(3phase)");//电机选择 ((CComboBox*)GetDlgItem(IDC_MotorType))->AddString("BrushlessDC(2phase)"); ((CComboBox*)GetDlgItem(IDC_MotorType))->AddString("Microstepping(3phase)"); ((CComboBox*)GetDlgItem(IDC_MotorType))->AddString("Microstepping(2phase)"); ((CComboBox*)GetDlgItem(IDC_MotorType))->AddString("Pulse&Direction"); ((CComboBox*)GetDlgItem(IDC_MotorType))->AddString("DCBrush"); ((CComboBox*)GetDlgItem(IDC_Encoder))->AddString("Incremental");//编码器选择 ((CComboBox*)GetDlgItem(IDC_Encoder))->AddString("Absolute"); returnTRUE;//returnTRUEunlessyousetthefocustoacontrol}voidCMOVEDlg::OnSysCommand(UINTnID,LPARAMlParam){ if((nID&0xFFF0)==IDM_ABOUTBOX) { CAboutDlgdlgAbout; dlgAbout.DoModal(); } else { CDialog::OnSysCommand(nID,lParam); }}//Ifyouaddaminimizebuttontoyourdialog,youwillneedthecodebelow//todrawtheicon.ForMFCapplicationsusingthedocument/viewmodel,//thisisautomaticallydoneforyoubytheframework.voidCMOVEDlg::OnPaint(){ if(IsIconic()) { CPaintDCdc(this);//devicecontextforpainting SendMessage(WM_ICONERASEBKGND,(WPARAM)dc.GetSafeHdc(),0); //Centericoninclientrectangle intcxIcon=GetSystemMetrics(SM_CXICON); intcyIcon=GetSystemMetrics(SM_CYICON); CRectrect; GetClientRect(&rect); intx=(rect.Width()-cxIcon+1)/2; inty=(rect.Height()-cyIcon+1)/2; //Drawtheicon dc.DrawIcon(x,y,m_hIcon); } else { CDialog::OnPaint(); }}//Thesystemcallsthistoobtainthecursortodisplaywhiletheuserdrags//theminimizedwindow.HCURSORCMOVEDlg::OnQueryDragIcon(){ return(HCURSOR)m_hIcon;}voidCMOVEDlg::OnSer(){ //TODO:Addyourcontrolnotificationhandlercodehere//验证串口通信 intN_Axis=1; if(m_Axis==4) { N_Axis=PMDSetupAxisInterface_Serial(&hAxis1,PMDAxis1,0); PMDCopyAxisInterface(&hAxis2,&hAxis1,PMDAxis2); } elseif(m_Axis==0)N_Axis=PMDSetupAxisInterface_Serial(&hAxis1,PMDAxis1,0); elseif(m_Axis==1)N_Axis=PMDSetupAxisInterface_Serial(&hAxis1,PMDAxis2,0); elseif(m_Axis==2)N_Axis=PMDSetupAxisInterface_Serial(&hAxis1,PMDAxis3,0); elseif(m_Axis==3)N_Axis=PMDSetupAxisInterface_Serial(&hAxis1,PMDAxis4,0); if(PMD_NOERROR!=N_Axis){ MessageBox("Communicationinitializationfailed");} //optional:changeserialparametersherebeforeattemptingcommunication //PMDSerial_SetConfig(hAxis1.transport_data,460800,0);//波特率无法设定 //PMDSetSerialPortMode(&hAxis1,7,0,0,0,0); PMDSerial_Sync(hAxis1.transport_data); if(PMD_NOERROR!=PMDChipsetReset(&hAxis1)) { MessageBox("Resetfailed"); PMDCloseAxisInterface(&hAxis1); UpdateData(); m_Ser=-1; UpdateData(FALSE); SetDlgItemText(IDC_Prompt,"pleasecheckyourserialinterface."); } else { PMDResetEventStatus(&hAxis1,0);//状态清零 ((CComboBox*)GetDlgItem(IDC_MotorType))->SetCurSel(2);//默认直流无刷电机 ((CComboBox*)GetDlgItem(IDC_Encoder))->SetCurSel(1);//默认增量式编码器 GetDlgItem(IDC_Disconnect)->EnableWindow(TRUE);//打开按钮 GetDlgItem(IDC_LoadSettings)->EnableWindow(TRUE); GetDlgItem(IDC_Axis1)->EnableWindow(FALSE);//关掉四个轴 GetDlgItem(IDC_Axis2)->EnableWindow(FALSE); GetDlgItem(IDC_Axis3)->EnableWindow(FALSE); GetDlgItem(IDC_Axis4)->EnableWindow(FALSE); GetDlgItem(IDC_Axis5)->EnableWindow(FALSE); if(m_Axis==4) { PMDResetEventStatus(&hAxis2,0);//状态清零 GetDlgItem(IDC_J)->EnableWindow(FALSE); GetDlgItem(IDC_P)->EnableWindow(FALSE); GetDlgItem(IDC_V)->EnableWindow(FALSE); GetDlgItem(IDC_A)->EnableWindow(FALSE); GetDlgItem(IDC_D)->EnableWindow(FALSE); GetDlgItem(IDC_V0)->EnableWindow(FALSE); GetDlgItem(IDC_Kp)->EnableWindow(FALSE); GetDlgItem(IDC_Ki)->EnableWindow(FALSE); GetDlgItem(IDC_Kd)->EnableWindow(FALSE); GetDlgItem(IDC_Kaff)->EnableWindow(FALSE); GetDlgItem(IDC_Kvff)->EnableWindow(FALSE); GetDlgItem(IDC_EPID)->EnableWindow(FALSE); GetDlgItem(IDC_ETrajectory)->EnableWindow(FALSE); GetDlgItem(IDC_EMotor)->EnableWindow(FALSE); GetDlgItem(IDC_Move_S)->EnableWindow(FALSE); GetDlgItem(IDC_Move_T)->EnableWindow(FALSE); GetDlgItem(IDC_Move_V)->EnableWindow(FALSE); GetDlgItem(IDC_Stop_Smooth)->EnableWindow(FALSE); GetDlgItem(IDC_Stop_Sudden)->EnableWindow(FALSE); UpdateData(); m_Ser=0; m_EPID1=TRUE; m_EMotor1=TRUE; m_ETrajectory1=TRUE; m_EPID2=TRUE; m_EMotor2=TRUE; m_ETrajectory2=TRUE; m_MoveTime=4;//默认插补初始条件 m_Pulse=5; m_Station1_X=620; m_Station1_Y=0; m_Station2_X=180; m_Station2_Y=545; m_Zero1=0; m_Zero2=120; m_EncoderCounts=8192; m_EncoderCounts2=8192; UpdateData(FALSE); SetDlgItemInt(IDC_Kp1,1); SetDlgItemInt(IDC_Kd1,50); SetDlgItemInt(IDC_Kp2,1); SetDlgItemInt(IDC_Kd2,50); } else { GetDlgItem(IDC_Kp1)->EnableWindow(FALSE); GetDlgItem(IDC_Ki1)->EnableWindow(FALSE); GetDlgItem(IDC_Kd1)->EnableWindow(FALSE); GetDlgItem(IDC_Kaff1)->EnableWindow(FALSE); GetDlgItem(IDC_Kvff1)->EnableWindow(FALSE); GetDlgItem(IDC_Kp2)->EnableWindow(FALSE); GetDlgItem(IDC_Ki2)->EnableWindow(FALSE); GetDlgItem(IDC_Kd2)->EnableWindow(FALSE); GetDlgItem(IDC_Kaff2)->EnableWindow(FALSE); GetDlgItem(IDC_Kvff2)->EnableWindow(FALSE); GetDlgItem(IDC_EPID1)->EnableWindow(FALSE); GetDlgItem(IDC_ETrajectory1)->EnableWindow(FALSE); GetDlgItem(IDC_EMotor1)->EnableWindow(FALSE); GetDlgItem(IDC_EPID2)->EnableWindow(FALSE); GetDlgItem(IDC_ETrajectory2)->EnableWindow(FALSE); GetDlgItem(IDC_EMotor2)->EnableWindow(FALSE); GetDlgItem(IDC_T1)->EnableWindow(FALSE); GetDlgItem(IDC_T2)->EnableWindow(FALSE); GetDlgItem(IDC_T3)->EnableWindow(FALSE); GetDlgItem(IDC_MoveTime)->EnableWindow(FALSE); GetDlgItem(IDC_Pulse)->EnableWindow(FALSE); GetDlgItem(IDC_Station1_X)->EnableWindow(FALSE); GetDlgItem(IDC_Station1_Y)->EnableWindow(FALSE); GetDlgItem(IDC_Station2_X)->EnableWindow(FALSE); GetDlgItem(IDC_Station2_Y)->EnableWindow(FALSE); GetDlgItem(IDC_Zero1)->EnableWindow(FALSE); GetDlgItem(IDC_Zero2)->EnableWindow(FALSE); GetDlgItem(IDC_EncoderCounts)->EnableWindow(FALSE); GetDlgItem(IDC_EncoderCounts2)->EnableWindow(FALSE); GetDlgItem(IDC_J)->EnableWindow(FALSE);//默认梯形曲线，设定默认值 SetDlgItemInt(IDC_P,400000);//200转 SetDlgItemInt(IDC_V,60000);//最高30r/s SetDlgItemInt(IDC_A,30000);//两秒升到最高 SetDlgItemInt(IDC_Kp,10); SetDlgItemInt(IDC_Kd,500); UpdateData(); m_Ser=0; m_EPID=TRUE; m_EMotor=TRUE; m_ETrajectory=TRUE; UpdateData(FALSE); } GetDlgItem(IDC_Ser)->EnableWindow(FALSE);//只允许串口开一次 GetDlgItem(IDC_PC104)->EnableWindow(FALSE);//关掉并口 GetDlgItem(IDC_T2R)->EnableWindow(FALSE); SetDlgItemText(IDC_Prompt,"");//关闭提示 SetTimer(1,100,NULL);//状态显示刷新时间 }}voidCMOVEDlg::OnPc104(){ //TODO:Addyourcontrolnotificationhandlercodehere intN_Axis=1; if(m_Axis==4) { N_Axis=PMDSetupAxisInterface_ISA(&hAxis1,PMDAxis1,1); PMDCopyAxisInterface(&hAxis2,&hAxis1,PMDAxis2); } elseif(m_Axis==0)N_Axis=PMDSetupAxisInterface_ISA(&hAxis1,PMDAxis1,1); elseif(m_Axis==1)N_Axis=PMDSetupAxisInterface_ISA(&hAxis1,PMDAxis2,1); elseif(m_Axis==2)N_Axis=PMDSetupAxisInterface_ISA(&hAxis1,PMDAxis3,1); elseif(m_Axis==3)N_Axis=PMDSetupAxisInterface_ISA(&hAxis1,PMDAxis4,1); if(PMD_NOERROR!=N_Axis){ MessageBox("Communicationinitializationfailed");} if(PMD_NOERROR!=PMDChipsetReset(&hAxis1)) { MessageBox("Resetfailed"); PMDCloseAxisInterface(&hAxis1); UpdateData(); m_Ser=-1; UpdateData(FALSE); SetDlgItemText(IDC_Prompt,"pleasecheckyourparallelinterface."); } else { PMDResetEventStatus(&hAxis1,0);//状态清零 ((CComboBox*)GetDlgItem(IDC_MotorType))->SetCurSel(2);//默认直流无刷电机 ((CComboBox*)GetDlgItem(IDC_Encoder))->SetCurSel(1);//默认增量式编码器 GetDlgItem(IDC_Disconnect)->EnableWindow(TRUE);//打开按钮 GetDlgItem(IDC_LoadSettings)->EnableWindow(TRUE); GetDlgItem(IDC_Axis1)->EnableWindow(FALSE);//关掉四个轴 GetDlgItem(IDC_Axis2)->EnableWindow(FALSE); GetDlgItem(IDC_Axis3)->EnableWindow(FALSE); GetDlgItem(IDC_Axis4)->EnableWindow(FALSE); GetDlgItem(IDC_Axis5)->EnableWindow(FALSE); if(m_Axis==4) { PMDResetEventStatus(&hAxis2,0);//状态清零 GetDlgItem(IDC_J)->EnableWindow(FALSE); GetDlgItem(IDC_P)->EnableWindow(FALSE); GetDlgItem(IDC_V)->EnableWindow(FALSE); GetDlgItem(IDC_A)->EnableWindow(FALSE); GetDlgItem(IDC_D)->EnableWindow(FALSE); GetDlgItem(IDC_V0)->EnableWindow(FALSE); GetDlgItem(IDC_Kp)->EnableWindow(FALSE); GetDlgItem(IDC_Ki)->EnableWindow(FALSE); GetDlgItem(IDC_Kd)->EnableWindow(FALSE); GetDlgItem(IDC_Kaff)->EnableWindow(FALSE); GetDlgItem(IDC_Kvff)->EnableWindow(FALSE); GetDlgItem(IDC_EPID)->EnableWindow(FALSE); GetDlgItem(IDC_ETrajectory)->EnableWindow(FALSE); GetDlgItem(IDC_EMotor)->EnableWindow(FALSE); GetDlgItem(IDC_Move_S)->EnableWindow(FALSE); GetDlgItem(IDC_Move_T)->EnableWindow(FALSE); GetDlgItem(IDC_Move_V)->EnableWindow(FALSE); GetDlgItem(IDC_Stop_Smooth)->EnableWindow(FALSE); GetDlgItem(IDC_Stop_Sudden)->EnableWindow(FALSE); GetDlgItem(IDC_EPID)->EnableWindow(FALSE); GetDlgItem(IDC_ETrajectory)->EnableWindow(FALSE); GetDlgItem(IDC_EMotor)->EnableWindow(FALSE); UpdateData(); m_Ser=1; m_EPID1=TRUE; m_EMotor1=TRUE; m_ETrajectory1=TRUE; m_EPID2=TRUE; m_EMotor2=TRUE; m_ETrajectory2=TRUE; m_MoveTime=3;//默认插补初始条件 m_Pulse=5; m_Station1_X=620; m_Station1_Y=0; m_Station2_X=180; m_Station2_Y=545; m_Zero1=0; m_Zero2=120; m_EncoderCounts=8192; m_EncoderCounts2=8192; UpdateData(FALSE); SetDlgItemInt(IDC_Kp1,1); SetDlgItemInt(IDC_Kd1,50); SetDlgItemInt(IDC_Kp2,1); SetDlgItemInt(IDC_Kd2,50); } else { GetDlgItem(IDC_Kp1)->EnableWindow(FALSE); GetDlgItem(IDC_Ki1)->EnableWindow(FALSE); GetDlgItem(IDC_Kd1)->EnableWindow(FALSE); GetDlgItem(IDC_Kaff1)->EnableWindow(FALSE); GetDlgItem(IDC_Kvff1)->EnableWindow(FALSE); GetDlgItem(IDC_Kp2)->EnableWindow(FALSE); GetDlgItem(IDC_Ki2)->EnableWindow(FALSE); GetDlgItem(IDC_Kd2)->EnableWindow(FALSE); GetDlgItem(IDC_Kaff2)->EnableWindow(FALSE); GetDlgItem(IDC_Kvff2)->EnableWindow(FALSE); GetDlgItem(IDC_EPID1)->EnableWindow(FALSE); GetDlgItem(IDC_ETrajectory1)->EnableWindow(FALSE); GetDlgItem(IDC_EMotor1)->EnableWindow(FALSE); GetDlgItem(IDC_EPID2)->EnableWindow(FALSE); GetDlgItem(IDC_ETrajectory2)->EnableWindow(FALSE); GetDlgItem(IDC_EMotor2)->EnableWindow(FALSE); GetDlgItem(IDC_T1)->EnableWindow(FALSE); GetDlgItem(IDC_T2)->EnableWindow(FALSE); GetDlgItem(IDC_T3)->EnableWindow(FALSE); GetDlgItem(IDC_MoveTime)->EnableWindow(FALSE); GetDlgItem(IDC_Pulse)->EnableWindow(FALSE); GetDlgItem(IDC_Station1_X)->EnableWindow(FALSE); GetDlgItem(IDC_Station1_Y)->EnableWindow(FALSE); GetDlgItem(IDC_Station2_X)->EnableWindow(FALSE); GetDlgItem(IDC_Station2_Y)->EnableWindow(FALSE); GetDlgItem(IDC_Zero1)->EnableWindow(FALSE); GetDlgItem(IDC_Zero2)->EnableWindow(FALSE); GetDlgItem(IDC_EncoderCounts)->EnableWindow(FALSE); GetDlgItem(IDC_EncoderCounts2)->EnableWindow(FALSE); GetDlgItem(IDC_J)->EnableWindow(FALSE);//默认梯形曲线，设定默认值 SetDlgItemInt(IDC_P,400000);//200转 SetDlgItemInt(IDC_V,60000);//最高30r/s SetDlgItemInt(IDC_A,30000);//两秒升到最高 SetDlgItemInt(IDC_Kp,10); SetDlgItemInt(IDC_Kd,500); UpdateData(); m_Ser=1; m_EPID=TRUE; m_EMotor=TRUE; m_ETrajectory=TRUE; UpdateData(FALSE); } GetDlgItem(IDC_Ser)->EnableWindow(FALSE);//只允许串口开一次 GetDlgItem(IDC_PC104)->EnableWindow(FALSE);//关掉并口 GetDlgItem(IDC_T2R)->EnableWindow(FALSE); SetDlgItemText(IDC_Prompt,"");//关闭提示 SetTimer(1,100,NULL);//状态显示刷新时间 }}//轴号选择voidCMOVEDlg::OnAxis1(){ //TODO:Addyourcontrolnotificationhandlercodehere UpdateData(); m_Ser=-1; m_Axis=0; UpdateData(FALSE); SetDlgItemText(IDC_Prompt,"Pleaseselectcommunicationmode.");}voidCMOVEDlg::OnAxis2(){ //TODO:Addyourcontrolnotificationhandlercodehere UpdateData(); m_Ser=-1; m_Axis=1; UpdateData(FALSE); SetDlgItemText(IDC_Prompt,"Pleaseselectcommunicationmode.");}voidCMOVEDlg::OnAxis3(){ //TODO:Addyourcontrolnotificationhandlercodehere UpdateData(); m_Ser=-1; m_Axis=2; UpdateData(FALSE); SetDlgItemText(IDC_Prompt,"Pleaseselectcommunicationmode.");}voidCMOVEDlg::OnAxis4(){ //TODO:Addyourcontrolnotificationhandlercodehere UpdateData(); m_Ser=-1; m_Axis=3; UpdateData(FALSE); SetDlgItemText(IDC_Prompt,"Pleaseselectcommunicationmode.");}voidCMOVEDlg::OnAxis5(){ //TODO:Addyourcontrolnotificationhandlercodehere //TODO:Addyourcontrolnotificationhandlercodehere UpdateData(); m_Ser=-1; m_Axis=4; UpdateData(FALSE); SetDlgItemText(IDC_Prompt,"Pleaseselectcommunicationmode."); }//运动形式设置voidCMOVEDlg::OnMoveT(){ //TODO:Addyourcontrolnotificationhandlercodehere m_MoveType=0; GetDlgItem(IDC_P)->EnableWindow(TRUE); GetDlgItem(IDC_V0)->EnableWindow(TRUE); GetDlgItem(IDC_J)->EnableWindow(FALSE);}voidCMOVEDlg::OnMoveS(){ //TODO:Addyourcontrolnotificationhandlercodehere m_MoveType=1; GetDlgItem(IDC_P)->EnableWindow(TRUE); GetDlgItem(IDC_V0)->EnableWindow(FALSE); GetDlgItem(IDC_J)->EnableWindow(TRUE);}voidCMOVEDlg::OnMoveV(){ //TODO:Addyourcontrolnotificationhandlercodehere m_MoveType=2; GetDlgItem(IDC_P)->EnableWindow(FALSE); GetDlgItem(IDC_V0)->EnableWindow(TRUE); GetDlgItem(IDC_J)->EnableWindow(FALSE);}//停止方式设置voidCMOVEDlg::OnStopSmooth(){ //TODO:Addyourcontrolnotificationhandlercodehere m_StopMode=0;}voidCMOVEDlg::OnStopSudden(){ //TODO:Addyourcontrolnotificationhandlercodehere m_StopMode=1;}//插补轨迹选择voidCMOVEDlg::OnT1(){ //TODO:Addyourcontrolnotificationhandlercodehere m_T=0; GetDlgItem(IDC_T2R)->EnableWindow(FALSE);}voidCMOVEDlg::OnT2(){ //TODO:Addyourcontrolnotificationhandlercodehere m_T=1; GetDlgItem(IDC_T2R)->EnableWindow(TRUE); UpdateData(); m_T2R=1200; UpdateData(FALSE);}voidCMOVEDlg::OnT3(){ //TODO:Addyourcontrolnotificationhandlercodehere m_T=2; GetDlgItem(IDC_T2R)->EnableWindow(TRUE); UpdateData(); m_T2R=1200; UpdateData(FALSE);}//使能设置voidCMOVEDlg::OnEpid(){ //TODO:Addyourcontrolnotificationhandlercodehere m_EPID=!m_EPID; CMOVEDlg::OnLoadSettings();}voidCMOVEDlg::OnETrajectory(){ //TODO:Addyourcontrolnotificationhandlercodehere m_ETrajectory=!m_ETrajectory; CMOVEDlg::OnLoadSettings();}voidCMOVEDlg::OnEMotor(){ //TODO:Addyourcontrolnotificationhandlercodehere m_EMotor=!m_EMotor; CMOVEDlg::OnLoadSettings();}//使能设置(两轴插补轴1)voidCMOVEDlg::OnEpid1(){ //TODO:Addyourcontrolnotificationhandlercodehere m_EPID1=!m_EPID1; CMOVEDlg::OnLoadSettings();}voidCMOVEDlg::OnETrajectory1(){ //TODO:Addyourcontrolnotificationhandlercodehere m_ETrajectory1=!m_ETrajectory1; CMOVEDlg::OnLoadSettings();}voidCMOVEDlg::OnEMotor1(){ //TODO:Addyourcontrolnotificationhandlercodehere m_EMotor1=!m_EMotor1; CMOVEDlg::OnLoadSettings();}//使能设置(两轴插补轴2)voidCMOVEDlg::OnEpid2(){ //TODO:Addyourcontrolnotificationhandlercodehere m_EPID2=!m_EPID2; CMOVEDlg::OnLoadSettings();}voidCMOVEDlg::OnETrajectory2(){ //TODO:Addyourcontrolnotificationhandlercodehere m_ETrajectory2=!m_ETrajectory2; CMOVEDlg::OnLoadSettings();}voidCMOVEDlg::OnEMotor2(){ //TODO:Addyourcontrolnotificationhandlercodehere m_EMotor2=!m_EMotor2; CMOVEDlg::OnLoadSettings();}//载入设置voidCMOVEDlg::OnLoadSettings(){ //TODO:Addyourcontrolnotificationhandlercodehere //先使所有电机停止 loop_index=1;//循环指针置1 intindex;//判定电机和编码器的指针 if(PMDMotorInit(&hAxis1)!=PMD_NOERROR) { MessageBox("MotorInitfailed.\n"); } if(m_Axis==4) if(PMDMotorInit(&hAxis2)!=PMD_NOERROR) { MessageBox("Motor2Initfailed.\n"); }//电机类型选择 index=((CComboBox*)GetDlgItem(IDC_MotorType))->GetCurSel(); ((CComboBox*)GetDlgItem(IDC_MotorType))->GetLBText(index,m_MotorType); if(m_MotorType=="DCBrush") { PMDSetMotorType(&hAxis1,7);//直流无刷电机 if(m_Axis==4)PMDSetMotorType(&hAxis2,7); } else { MessageBox("TheMotorisundefined!PleaseselecttheDCBrush!"); SetDlgItemText(IDC_Prompt,"OnlytheDCBrushhasbeendefined."); //GetDlgItem(IDC_MotorMove)->EnableWindow(FALSE); //if(m_Axis==4)GetDlgItem(IDC_MotorMove2)->EnableWindow(FALSE); } PMDSetOutputMode(&hAxis1,0);//电机输出类型 if(m_Axis==4)PMDSetOutputMode(&hAxis2,0);//编码器选择 index=((CComboBox*)GetDlgItem(IDC_Encoder))->GetCurSel(); ((CComboBox*)GetDlgItem(IDC_Encoder))->GetLBText(index,m_Encoder); if(m_Encoder=="Incremental") { PMDSetEncoderSource(&hAxis1,0);//增量式编码器 if(m_Axis==4)PMDSetEncoderSource(&hAxis2,0);//增量式编码器 } elseif(m_Encoder=="Absolute") { PMDSetEncoderSource(&hAxis1,1);//绝对式编码器 if(m_Axis==4)PMDSetEncoderSource(&hAxis2,1); // PMDSetEncoderModulus(&hAxis1,4096); // PMDMBSetSSIRegister(&hAxis1,SSIRes25,SSIFreq550000); }//两轴插补 if(m_Axis==4) { UpdateData(); m_Station1_X; m_Station1_Y; m_Station2_X; m_Station2_Y; m_MoveTime; m_Pulse; m_T2R; m_EncoderCounts; m_EncoderCounts2; m_Zero1; m_Zero2; UpdateData(FALSE); if(m_T==-1)MessageBox("Pleaseselectthetrajectorytype!"); elseif(m_Station1_X<255||m_Station1_X>650||m_Station1_Y!=0) { MessageBox("TheStation1isnotcorrect!"); SetDlgItemText(IDC_Prompt,"TheXcoordinatemustbewithinthelimitof255and650,andtheYcoordinatemustbe0."); } elseif(sqrt(pow(m_Station2_X,2)+pow(m_Station2_Y,2))<255||sqrt(pow(m_Station2_X,2)+pow(m_Station2_Y,2))>650) { MessageBox("TheStation2isnotcorrect!"); SetDlgItemText(IDC_Prompt,"Theworkingradiusmustbewithinthelimitof255and650."); } else { PMDSetPositionLoop(&hAxis1,0,GetDlgItemInt(IDC_Kp1)); PMDSetPositionLoop(&hAxis1,1,GetDlgItemInt(IDC_Ki1)); PMDSetPositionLoop(&hAxis1,3,GetDlgItemInt(IDC_Kd1)); PMDSetPositionLoop(&hAxis1,6,GetDlgItemInt(IDC_Kvff1)); PMDSetPositionLoop(&hAxis1,7,GetDlgItemInt(IDC_Kaff1)); PMDSetPositionLoop(&hAxis2,0,GetDlgItemInt(IDC_Kp2)); PMDSetPositionLoop(&hAxis2,1,GetDlgItemInt(IDC_Ki2)); PMDSetPositionLoop(&hAxis2,3,GetDlgItemInt(IDC_Kd2)); PMDSetPositionLoop(&hAxis2,6,GetDlgItemInt(IDC_Kvff2)); PMDSetPositionLoop(&hAxis2,7,GetDlgItemInt(IDC_Kaff2)); unsignedshortOprt1,Oprt2; PMDSetOperatingMode(&hAxis1,1); PMDSetOperatingMode(&hAxis2,1); PMDGetOperatingMode(&hAxis1,&Oprt1); PMDGetOperatingMode(&hAxis2,&Oprt2); if(m_ETrajectory1)Oprt1|=32; if(m_ETrajectory2)Oprt2|=32; if(m_EMotor1)Oprt1|=2; if(m_EMotor2)Oprt2|=2; if(m_EPID1)Oprt1|=16; if(m_EPID2)Oprt2|=16; PMDSetOperatingMode(&hAxis1,Oprt1); PMDSetOperatingMode(&hAxis2,Oprt2); PMDMBSetDACOutputEnable(&hAxis1,1); PMDMBSetDACOutputEnable(&hAxis2,1); PMDUpdate(&hAxis1); PMDUpdate(&hAxis2); if(m_EPID1&&m_EPID2) { GetDlgItem(IDC_MotorMove2)->EnableWindow(TRUE);//打开运动按钮 SetDlgItemText(IDC_Prompt,""); } else { GetDlgItem(IDC_MotorMove2)->EnableWindow(FALS