int CreatePath1A_XOffset(double dX, double dY, double dZ, Path & vPath)
{
int res;
//
//Clear the segment list and initialize the starting point for the path
//
vPath.ClearSegListA(dX, dY, dZ); //Clear the segment list and set the
// starting point for the path
// at X = 0, Y = 1, Z = 0
//
//Add line and arc segments to the path module's segment list for first move
//
res = vPath.AddLineSegA(dX, dY+1.0, dZ+0.0); //Add a segment to move to x=0, y=2, z=0
if (res<0) return -1;
res = vPath.AddArcSegA( dX+1.0, dY+2.0, dZ+0.0, //end point of arc: x=1, y=3, z=0
dX+1.0, dY+1.0, dZ+0.0, //center point of arc: x=1, y=2, z = 0
0.0, 0.0, -1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
res = vPath.AddLineSegA(dX+2.0, dY+2.0, dZ+0.0); //line segment endpoint: x=4, y=3, z=0
if (res<0) return -1;
// ServoInf::m_pNMCServo->ClearSegList(4.0, 3.0, 0.0); //Clear the segment list and set the
// ExecutePath3Axis();
res = vPath.AddArcSegA( dX+3.0, dY+1.0, dZ+0.0, //end point of arc: x=5, y=2, z=0
dX+2.0, dY+1.0, dZ+0.0, //center point of arc: x=4, y=2, z = 0
0.0, 0.0, -1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
res = vPath.AddLineSegA(dX+3.0, dY+0.0, dZ+0.0); //line segment endpoint: x=5, y=0, z=0
if (res<0) return -1;
res = vPath.AddStartA(dX+3.0, dY+0.0, dZ+0.0); //line segment endpoint: x=5, y=0, z=0
if (res<0) return -1;
res = vPath.AddLineSegA(dX+0.0, dY+0.0, dZ+0.0); //line segment endpoint: x=5, y=0, z=0
if (res<0) return -1;
}
int TestCoordMotionCircleAtOrigin()
{
int iModule;
int iError;
double dX=0.0, dY=0.0, dZ=0.0;
Path vPath;
iError=InitNMCModule3Axis (iModule, vPath);
g_stage.Rotate(180.0);
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
vPath.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
15000.0, //X scale - 20000.0 counts per inch
15000.0, //Y scale - 20000.0 counts per inch
15000.0, //Z scale - 1.0 counts per inch - not used
0.175); //acceleration = 1.0 inch/second/second
vPath.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
vPath.SetFeedrate(0.175); //feedrate = 1.0 inches/second
vPath.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
g_stage.InitPathMode(vPath);
BOOL bMotion;
iError=g_stage.MoveTo(2.5, 0.0, 0.0, true);
g_stage.GetPos( dX, dY, dZ );
vPath.ClearSegListA(2.5, 0.0, 0.0); //Clear the segment list and set the
// starting point for the path
// at X = 0, Y = 1, Z = 0
//
//Add line and arc segments to the path module's segment list for first move
//
int res;
res = vPath.AddArcSegA( 0.0, 2.5, 0.0, //end point of arc: x=1, y=3, z=0
0.0, 0.0, 0.0, //center point of arc: x=1, y=2, z = 0
0.0, 0.0, 1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(0.0, 2.5, 0.0); //Clear the segment list and set the
// starting point for the path
// at X = 0, Y = 1, Z = 0
//
//Add line and arc segments to the path module's segment list for first move
//
res = vPath.AddArcSegA( -2.5, 0.0, 0.0, //end point of arc: x=1, y=3, z=0
0.0, 0.0, 0.0, //center point of arc: x=1, y=2, z = 0
0.0, 0.0, 1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
// ExecutePath3Axis();
// iError=g_stage.MoveTo(-1.0, 1.000, 0.0, true);
// iError=g_stage.MoveTo(-1.0, 1.000, -0.5, true);
// g_stage.GetPos( dX, dY, dZ );
// CreatePath1A_XOffset( dX, dY, dZ );
// ExecutePath3Axis();
iError=g_stage.MoveTo(0.0, 0.000, 0.000, true);
return 0;
};
int TestCoordMotionShortPath()
{
int iError;
int res;
int iModule;
Path vPath;
iError=InitNMCModule3Axis (iModule, vPath);
if (iModule < 3)
return -1;
g_stage.Rotate(180.0);
g_stage.SetVel(3.0, 3.0, 3.0);
g_stage.SetAccel(1.0, 1.0, 1.0);
vPath.SetPathParams(P_60HZ, //path frequency = 30 Hz
75, //Store a minimum of 45 points in the path point buffer
6684.57447, //X scale - 20000.0 counts per inch
6684.57447, //Y scale - 20000.0 counts per inch
2*6684.57447, //Z scale - 1.0 counts per inch - not used
1.0); //acceleration = 1.0 inch/second/second
vPath.SetOrigin(0.0, 0.0, 0.0); //set the origin to X = 0, Y = 0, Z = 0
vPath.SetFeedrate(1.0); //feedrate = 1.0 inches/second
vPath.SetTangentTolerance(10.0); //continuous path tangent tolerence = 10 degrees
g_stage.InitPathMode(vPath);
double x,y,z;
// g_stage.GetPos(x,y,z);
// InitPathParam(P_60HZ, 60,
// 6684.57447, 6684.57447, 2*6684.57447,
// 1.0,
// 1.0);
g_stage.GetPos(x,y,z);
g_stage.ResetPos();
//Clear the segment list and set the starting point for the path
// at X = 0, Y = 1, Z = 0
vPath.ClearSegListA(0,0,0);
//Add a segment to move to x=0, y=2, z=0
res = vPath.AddLineSegA(0.0, 1.0, 0.0);
if (res<0) return -1;
res = vPath.AddArcSegA( 1.0, 2.0, 0.0, //end point of arc: x=1, y=2, z=0
1.0, 1.0, 0.0, //center point of arc: x=1, y=1, z = 0
0.0, 0.0, -1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(1.0, 2.0, 0.0);
g_stage.GetPos(x,y,z);
res = vPath.AddLineSegA(2.0, 2.0, 0.0); //line segment endpoint: x=4, y=3, z=0
if (res<0) return -1;
res = vPath.AddArcSegA( 3.0, 1.0, 0.0, //end point of arc: x=5, y=2, z=0
2.0, 1.0, 0.0, //center point of arc: x=4, y=2, z = 0
0.0, 0.0, -1.0 ); //normal vector to arc plane: x = 0, y = 0, z = -1
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
res = vPath.AddLineSegA(3.0, 0.0, 0.0);
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
g_stage.ExecuteCoordMotion(vPath);
vPath.ClearSegListA(3.0, 0.0, 0.0);
if (res<0) return -1;
//line segment endpoint: x=5, y=0, z=0
res = vPath.AddLineSegA(0.0, 0.0, 0.0);
if (res<0) return -1;
g_stage.ExecuteCoordMotion(vPath);
ResetModules(iModule);
return 0;
};