SKMC.API-v3/SKMC.API/Motion/Model/MotionAxisParam.cs


namespace SKMC.Api.Motion.Model
{
    public class AxisHomeParam
    {
        // 回零模式
        public short HomeMod { get; set; }
        // 回零低速
        public int LowVel { get; set; }
        // 回零高速
        public int HighVel { get; set; }
        // 
        public int StopVel { get; set; }
        // 加速度
        public int Acc { get; set; }
        // 减速度
        public int Dec { get; set; }
        public double Overtime { get; set; }
        public double Offset { get; set; }

        public AxisHomeParam() { }

        public AxisHomeParam(AxisMoveParma moveParam)
        {
            LowVel = moveParam.MaxVel / 10;
            HighVel = moveParam.MaxVel / 2;
            Acc = moveParam.Acc;
            Dec = moveParam.Dec;
        }

        public AxisHomeParam(AxisMoveParma moveParam, short homeMod)
        {
            HomeMod = homeMod;
            LowVel = moveParam.MaxVel / 10;
            HighVel = moveParam.MaxVel / 2;
            Acc = moveParam.Acc;
            Dec = moveParam.Dec;
        }
    }

    public class AxisMoveParma
    {
        public int MinVel { get; set; }
        public int MaxVel { get; set; }
        public int StopVel { get; set; }
        public int Acc { get; set; }
        public int Dec { get; set; }
        // 加速时间
        public double Tacc { get; set; }
        // 减速时间
        public double Tdec { get; set; }
        // S型Radio
        public double Radio { get; set; }
        // 目标位置
        public double Pos { get; set; }
        // 设置连续运行时的最后速度
        public double FinalVel { get; set; }

        public override string ToString()
        {
            return $"vel: {MaxVel}, acc: {Acc}, dec: {Dec}, radio: {Radio}";
        }
    }

}