void PosController::MultiMove(float xPercent, float yPercent, float zPercent)
{
m_xPercent = xPercent;
m_yPercent = yPercent;
m_zPercent = zPercent;
if (!EqualToZero(zPercent))
{
ZMove();
return;
}
if (!EqualToZero(xPercent) && !EqualToZero(yPercent))
{
XYMove();
return;
}
if(!EqualToZero(xPercent))
{
XMove();
return;
}
if (!EqualToZero(yPercent))
{
YMove();
}
}
void CCamera::Update (float timestep) {
if (fore) ZMove (-2 * timestep);
if (back) ZMove (2 * timestep);
if (left) XMove (-1 * timestep);
if (right) XMove (1 * timestep);
if (up) YMove (1 * timestep);
if (down) YMove (-1 * timestep);
if (headleft) RotateHead (5 * timestep);
if (headright) RotateHead (-5 * timestep);
if (pitchup) RotatePitch (-2 * timestep);
if (pitchdown) RotatePitch (2 * timestep);
glLoadIdentity ();
glRotatef (-vpitch, 1.0, 0.0 , 0.0);
glRotatef (-vhead, 0.0, 1.0 , 0.0);
glTranslatef (-xview, -yview, -zview);
}
,_blinkSeqSignature(BLINKSEQSIGNATURE_INVALID)
,_command(COMMAND_INVALID)
,_valueCallbackColorLed(NULL)
//--- (end of ColorLed initialization)
{
_className="ColorLed";
}
YColorLed::~YColorLed()
{
//--- (YColorLed cleanup)
//--- (end of YColorLed cleanup)
}
//--- (YColorLed implementation)
// static attributes
const YMove YColorLed::RGBMOVE_INVALID = YMove();
const YMove YColorLed::HSLMOVE_INVALID = YMove();
const string YColorLed::COMMAND_INVALID = YAPI_INVALID_STRING;
int YColorLed::_parseAttr(yJsonStateMachine& j)
{
if(!strcmp(j.token, "rgbColor")) {
if(yJsonParse(&j) != YJSON_PARSE_AVAIL) goto failed;
_rgbColor = atoi(j.token);
return 1;
}
if(!strcmp(j.token, "hslColor")) {
if(yJsonParse(&j) != YJSON_PARSE_AVAIL) goto failed;
_hslColor = atoi(j.token);
return 1;
}
/// <summary>
/// 多轴运动函数
/// </summary>
/// <param name="UseAxis">轴号：0：X 1：Y 2：Z 3：T</param>
/// <param name="UseStart"></param>
/// <param name="UseAcc"></param>
/// <param name="UseSpeed"></param>
/// <param name="UseMove"></param>运动方向:
void PosController::axisXYMove( double UseStart, double UseAcc, double UseSpeed)
{
if (!check_Val(UseStart, MAX_START_SPEED/*, HT_Public.AxisName[this.UseAxis] + " 轴起始速度必须正数，且只允许[ 0-" + MaxStartSpeed.ToString().Trim() + " ]之间数值！"*/))
{
return;
}
if (!check_Val(UseAcc, MAX_ACC_SPEED/*, HT_Public.AxisName[this.UseAxis] + " 轴加减速度必须正数，且只允许[ 0-" + MaxAccSpeed.ToString().Trim() + " ]之间数值！"*/))
{
return;
}
if (!check_Val(UseSpeed, MAX_RUN_SPEED/*, HT_Public.AxisName[this.UseAxis] + " 轴运行速度必须为正数，且只允许[ 0-" + MaxRunSpeed.ToString().Trim() + " ]之间数值！"*/))
{
return;
}
// if (!check_Val(UseMove, 0/*, HT_Public.AxisName[this.UseAxis] + " 轴运行位移必须为正数！"*/))
// {
// return;
// }
double UseEncConst = PulseUnit[X_Axis]; //获取脉冲当量
float tempPercent = min(abs(m_xPercent), abs(m_yPercent));
int start = (int)(UseStart * UseEncConst * tempPercent); //启动速度
double fAcc = (double)(UseAcc * UseEncConst * tempPercent); //加速度
int speed = (int)(UseSpeed * UseEncConst * tempPercent); //运行速度
if (!isConnected())
{
return;
}
//检测当量轴是否在运动
if (!checkAxisDown(X_Axis) || !checkAxisDown(Y_Axis))
{
return;
}
long DistArray[2] = {0};
DistArray[0] = getUserMove(m_xPercent) * UseEncConst;
DistArray[1]= getUserMove(m_yPercent) * UseEncConst;
//检测轴是否到极限
if (!check_Limit(X_Axis, getUserMove(m_xPercent),true))
{
YMove();
return;
}
if (!check_Limit(Y_Axis, getUserMove(m_yPercent), true))
{
XMove();
return;
}
//停止当前轴
d1000_immediate_stop(X_Axis);
d1000_immediate_stop(Y_Axis);
short AxisArray[2] = {X_Axis, Y_Axis};
d1000_start_t_line (2,AxisArray,DistArray, start, speed,fAcc);
}
,_positionAtPowerOn(POSITIONATPOWERON_INVALID)
,_enabledAtPowerOn(ENABLEDATPOWERON_INVALID)
,_valueCallbackServo(NULL)
//--- (end of Servo initialization)
{
_className="Servo";
}
YServo::~YServo()
{
//--- (YServo cleanup)
//--- (end of YServo cleanup)
}
//--- (YServo implementation)
// static attributes
const YMove YServo::MOVE_INVALID = YMove();
int YServo::_parseAttr(yJsonStateMachine& j)
{
if(!strcmp(j.token, "position")) {
if(yJsonParse(&j) != YJSON_PARSE_AVAIL) goto failed;
_position = atoi(j.token);
return 1;
}
if(!strcmp(j.token, "enabled")) {
if(yJsonParse(&j) != YJSON_PARSE_AVAIL) goto failed;
_enabled = (Y_ENABLED_enum)atoi(j.token);
return 1;
}
if(!strcmp(j.token, "range")) {
if(yJsonParse(&j) != YJSON_PARSE_AVAIL) goto failed;