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hemei
Commit 32c61afd authored by 潘栩锋's avatar 潘栩锋 🚴
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修复 浙江班奈特 真实环境调试。

parent e12c6823
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Showing with 33 additions and 21 deletions
FLY.Winder.BanNaiTe.UI.Server/RotaryPlc.cs
View file @ 32c61afd
...@@ -17,11 +17,19 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -17,11 +17,19 @@ namespace FLY.Winder.BanNaiTe.UI.Server
{ {
public event PropertyChangedEventHandler PropertyChanged; public event PropertyChangedEventHandler PropertyChanged;
const string ADDR_CW = "DB107.0.0";//顺时针（正方向） ，程序会直接读取 DB7.0.0~DB7.0.4 const string ADDR_SIGNBASE = "DB107.0.0";//信号地址
const string ADDR_CCW = "DB107.0.1";//逆时针（反方向） const int SIGN_CNT = 5;
const string ADDR_Sign0 = "DB107.0.2";//转向信号0 (撞了它， 变为正方向运行) const int SIGN_INDEX_FORW = 0;//正方向
const string ADDR_Sign1 = "DB107.0.3";//转向信号1 (撞了它， 变为反方向运行) const int SIGN_INDEX_BACKW = 1;//反方向
const string ADDR_OrgSign = "DB107.0.4";//复位原点信号 (撞了它后，证明在中间) const int SIGN_INDEX_1 = 2;//转向信号1 (撞了它， 变为反方向运行)
const int SIGN_INDEX_0 = 3; //转向信号0(撞了它， 变为正方向运行)
const int SIGN_INDEX_ORG = 4;//复位原点信号 (撞了它后，证明在中间)
//const string ADDR_FORW = "DB107.0.0";//顺时针（正方向） ，程序会直接读取 DB7.0.0~DB7.0.4
//const string ADDR_BACKW = "DB107.0.1";//逆时针（反方向）
//const string ADDR_Sign1 = "DB107.0.2";//转向信号1 (撞了它， 变为反方向运行)
//const string ADDR_Sign0 = "DB107.0.3";//转向信号0 (撞了它， 变为正方向运行)
//const string ADDR_OrgSign = "DB107.0.4";//复位原点信号 (撞了它后，证明在中间)
const string ADDR_RotaryVelocity = "DB107.2";//旋转塔速度% 有正负 const string ADDR_RotaryVelocity = "DB107.2";//旋转塔速度% 有正负
NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger(); NLog.Logger logger = NLog.LogManager.GetCurrentClassLogger();
...@@ -219,14 +227,14 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -219,14 +227,14 @@ namespace FLY.Winder.BanNaiTe.UI.Server
bool Read() bool Read()
{ {
var resultBools = device.ReadBool(ADDR_CW, 5); var resultBools = device.ReadBool(ADDR_SIGNBASE, SIGN_CNT);
if (!SetState(resultBools)) if (!SetState(resultBools))
return false; return false;
IsForw = resultBools.Content[0]; IsForw = resultBools.Content[SIGN_INDEX_FORW];
IsBackw = resultBools.Content[1]; IsBackw = resultBools.Content[SIGN_INDEX_BACKW];
IsTurnSign0 = resultBools.Content[2]; IsTurnSign0 = resultBools.Content[SIGN_INDEX_0];
IsTurnSign1 = resultBools.Content[3]; IsTurnSign1 = resultBools.Content[SIGN_INDEX_1];
IsOrgSign = resultBools.Content[4]; IsOrgSign = resultBools.Content[SIGN_INDEX_ORG];
var resultFloat = device.ReadFloat(ADDR_RotaryVelocity); var resultFloat = device.ReadFloat(ADDR_RotaryVelocity);
if (!SetState(resultFloat)) if (!SetState(resultFloat))
......
FLY.Winder.BanNaiTe.UI.Server/RotarySystem.cs
View file @ 32c61afd
...@@ -133,7 +133,7 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -133,7 +133,7 @@ namespace FLY.Winder.BanNaiTe.UI.Server
rposOfRInFile = LoadRPosOfR(); rposOfRInFile = LoadRPosOfR();
if (double.IsNaN(rposOfRInFile)) if (double.IsNaN(rposOfRInFile))
{ {
rposOfRInFile = 20000; rposOfRInFile = 25 * 19.1 * 60;
SaveRPosOfR(rposOfRInFile); SaveRPosOfR(rposOfRInFile);
} }
...@@ -145,13 +145,13 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -145,13 +145,13 @@ namespace FLY.Winder.BanNaiTe.UI.Server
RPosAtTurnSign1 = RPosOfR / 2; RPosAtTurnSign1 = RPosOfR / 2;
Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsPlcConnected), this, nameof(IsPlcConnected)); Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsPlcConnected), this, nameof(IsPlcConnected));
Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsForw), this, nameof(IsForw)); Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsForw), this, nameof(IsBackw));
Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsBackw), this, nameof(IsBackw)); Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsBackw), this, nameof(IsForw));
Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsTurnSign0), this, nameof(IsTurnSign0)); Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsTurnSign0), this, nameof(IsTurnSign1));
Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsTurnSign1), this, nameof(IsTurnSign1)); Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsTurnSign1), this, nameof(IsTurnSign0));
Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsOrgSign), this, nameof(IsOrgSign)); Misc.BindingOperations.SetBinding(this.plc, nameof(plc.IsOrgSign), this, nameof(IsOrgSign));
Misc.BindingOperations.SetBinding(this.plc, nameof(plc.RotaryVelocity),()=> { Misc.BindingOperations.SetBinding(this.plc, nameof(plc.RotaryVelocity),()=> {
RSpeed = plc.RotaryVelocity; RSpeed = -plc.RotaryVelocity;
}); });
updateMinuteOfR(); updateMinuteOfR();
...@@ -269,13 +269,13 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -269,13 +269,13 @@ namespace FLY.Winder.BanNaiTe.UI.Server
RPosAtTurnSign0 = RPosGlobal; RPosAtTurnSign0 = RPosGlobal;
isReal_RPosAtTurnSign0 = true; isReal_RPosAtTurnSign0 = true;
if (isReal_RPosAtTurnSign1) if (isReal_RPosAtTurnSign0 && isReal_RPosAtTurnSign1)
{ {
updateRPosOfR(); updateRPosOfR();
} }
//------------------------------------------------------------- //-------------------------------------------------------------
//位置预测 //位置预测, SIGN1 还没触发
if (!isReal_RPosAtTurnSign1) if (!isReal_RPosAtTurnSign1)
{ {
if (!isReal_RPosAtOrgSign)//原点信号 还没发生 if (!isReal_RPosAtOrgSign)//原点信号 还没发生
...@@ -285,6 +285,7 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -285,6 +285,7 @@ namespace FLY.Winder.BanNaiTe.UI.Server
else //原点信号 发生了 else //原点信号 发生了
{ {
RPosOfR = (RPosAtOrgSign - RPosAtTurnSign0) * 2; RPosOfR = (RPosAtOrgSign - RPosAtTurnSign0) * 2;
//通过原点计算的 RPosOfR，不会保存
} }
RPosAtTurnSign1 = RPosAtTurnSign0 + RPosOfR; RPosAtTurnSign1 = RPosAtTurnSign0 + RPosOfR;
} }
...@@ -298,7 +299,7 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -298,7 +299,7 @@ namespace FLY.Winder.BanNaiTe.UI.Server
RPosAtTurnSign1 = RPosGlobal; RPosAtTurnSign1 = RPosGlobal;
isReal_RPosAtTurnSign1 = true; isReal_RPosAtTurnSign1 = true;
if (isReal_RPosAtTurnSign0) if (isReal_RPosAtTurnSign0 && isReal_RPosAtTurnSign1)
{ {
updateRPosOfR(); updateRPosOfR();
} }
...@@ -314,6 +315,7 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -314,6 +315,7 @@ namespace FLY.Winder.BanNaiTe.UI.Server
else //原点信号 发生了 else //原点信号 发生了
{ {
RPosOfR = (RPosAtTurnSign1 - RPosAtOrgSign) * 2; RPosOfR = (RPosAtTurnSign1 - RPosAtOrgSign) * 2;
//通过原点计算的 RPosOfR，不会保存
} }
RPosAtTurnSign0 = RPosAtTurnSign1 - RPosOfR; RPosAtTurnSign0 = RPosAtTurnSign1 - RPosOfR;
} }
...@@ -424,11 +426,13 @@ namespace FLY.Winder.BanNaiTe.UI.Server ...@@ -424,11 +426,13 @@ namespace FLY.Winder.BanNaiTe.UI.Server
else if (isReal_RPosAtTurnSign0 && !isReal_RPosAtTurnSign1) //信号0 发生了，信号1 还没发生 else if (isReal_RPosAtTurnSign0 && !isReal_RPosAtTurnSign1) //信号0 发生了，信号1 还没发生
{ {
RPosOfR = (RPosAtOrgSign - RPosAtTurnSign0) * 2; RPosOfR = (RPosAtOrgSign - RPosAtTurnSign0) * 2;
//通过原点计算的 RPosOfR，不会保存
RPosAtTurnSign1 = RPosAtTurnSign0 + RPosOfR; RPosAtTurnSign1 = RPosAtTurnSign0 + RPosOfR;
} }
else if (!isReal_RPosAtTurnSign0 && isReal_RPosAtTurnSign1) //信号0 还没发生，信号1 发生了 else if (!isReal_RPosAtTurnSign0 && isReal_RPosAtTurnSign1) //信号0 还没发生，信号1 发生了
{ {
RPosOfR = (RPosAtOrgSign - RPosAtTurnSign0) * 2; RPosOfR = (RPosAtTurnSign1 - RPosAtOrgSign) * 2;
//通过原点计算的 RPosOfR，不会保存
RPosAtTurnSign0 = RPosAtTurnSign1 - RPosOfR; RPosAtTurnSign0 = RPosAtTurnSign1 - RPosOfR;
} }
} }
......
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