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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
namespace FLY.Simulation.Flyad7
{
/// <summary>
/// 伺服模拟器，有内部脉冲，和外部脉冲比例区别！！
/// </summary>
public interface ISimDrive_Servo:ISimDrive
{
/// <summary>
/// 是正向！！！！
/// </summary>
bool IsForw{get;set;}
/// <summary>
/// 以额定速度，输出总脉冲， 此脉冲没有方向
/// </summary>
/// <param name="velocity">单位 pps</param>
/// <param name="total_pos"></param>
void Drive(int velocity, int total_pos);
/// <summary>
/// 停止输出
/// </summary>
void Stop();
/// <summary>
/// 剩余脉冲， 此脉冲没有方向
/// </summary>
int Surplus{get;}
}
/// <summary>
/// 伺服模拟
/// </summary>
public class SimDrive_Servo:ISimDrive_Servo
{
const double mmpp=0.2;//0.2mm/pulse
const int m_maxpos = 9200;/*2000*/ //3米
const int m_minpos = -500;/*-100*/
const double inpout=4;//输入脉冲/输出脉冲
//当前速度，单位 pos/s
double m_speed = 0;
double m_currpos = 853;//4500;/*当前脉冲*/
int m_offset = 0;//ResetPos() 时， m_offset= - m_currpos;
public int Pos
{
get
{
return (int)(m_currpos) + m_offset;
}
}
public void ResetPos()
{
m_offset = -(int)(m_currpos);
}
private bool pin_org = true;
public bool PIN_IN_ORG
{
get { return pin_org; }
set
{
pin_org = value;
}
}
private bool pin_in_limit_forw = true;
public bool PIN_IN_LIMIT_FORW
{
get { return pin_in_limit_forw; }
set
{
pin_in_limit_forw = value;
}
}
private bool pin_in_limit_backw = true;
public bool PIN_IN_LIMIT_BACKW
{
get { return pin_in_limit_backw; }
set
{
pin_in_limit_backw = value;
}
}
/// <summary>
/// 是正向！！！！
/// </summary>
public bool IsForw { get; set; }
private double surplus = 0;
/// <summary>
/// 剩余脉冲， 此脉冲没有方向
/// </summary>
public int Surplus
{
get { return (int)surplus; }
}
int m_inpos_dest;//目标位置
public SimDrive_Servo()
{
}
void OnPoll_Order(TimeSpan ts)
{
if (m_speed > 0)
{
double currpos;
double s = m_speed * ts.TotalMinutes;
if (surplus < s)
s = surplus;
surplus -= s;
if(IsForw)
currpos = m_currpos + s / inpout;
else
currpos = m_currpos - s / inpout;
if ((IsForw) && (currpos >= m_maxpos))
{
//限位了
m_currpos = m_maxpos;
m_speed = 0;
}
else if ((!IsForw) && (currpos <= m_minpos))
{
m_speed = 0;
m_currpos = m_minpos;
}
else
{
m_currpos = currpos;
}
if (m_currpos < 0)
PIN_IN_ORG = false;
else
PIN_IN_ORG = true;
if (m_currpos >= m_maxpos)
PIN_IN_LIMIT_FORW = false;
else
PIN_IN_LIMIT_FORW = true;
if (m_currpos <= m_minpos)
PIN_IN_LIMIT_BACKW = false;
else
PIN_IN_LIMIT_BACKW = true;
}
}
DateTime dtLast = DateTime.MinValue;
public void OnPoll(DateTime now)
{
DateTime dt = now;
if (dtLast != DateTime.MinValue)
{
TimeSpan ts = dt - dtLast;
OnPoll_Order(ts);
}
dtLast = dt;
}
/// <summary>
/// 以额定速度，输出总脉冲， 此脉冲没有方向
/// </summary>
/// <param name="velocity">单位 pps</param>
/// <param name="total_pos"></param>
public void Drive(int velocity, int total_pos)
{
m_speed = velocity;
surplus = total_pos;
}
/// <summary>
/// 停止输出
/// </summary>
public void Stop()
{
m_speed = 0;
}
}
}