正运动控制器上位机开发介绍

开发流程：

1、打开Visual Studio，新建项目，选择Windows窗体应用。

2、点击下一步，设定项目名称和项目存放位置。

3、点击下一步，选择框架，然后点击创建，新项目就创建成功了。

界面和具体代码如下

using System.Text;
using static cszmcaux.zmcaux;
namespace JOG
{
    public partial class Form1 : Form
    {
        private IntPtr handle;


        public Form1()
        {
            InitializeComponent();
        }

        private void Form1_Load(object sender, EventArgs e)
        {

        }

        private void label1_Click(object sender, EventArgs e)
        {

        }

        /// <summary>
        /// 初始化控制器
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>

        private void button5_Click(object sender, EventArgs e)
        {
            //获取规划轴号
            var axis = GetPrfAxis();
            //设置正限位映射的IO口
            ZAux_Direct_SetFwdIn(handle, axis, 2);
            //设置负限位映射的IO口
            ZAux_Direct_SetRevIn(handle, axis, 0);
            //设置原点映射的IO口
            ZAux_Direct_SetDatumIn(handle, axis, 1);

        }

        /// <summary>
        /// 获取单轴运动规划轴号
        /// </summary>
        /// <returns></returns>

        private int GetPrfAxis()
        {

            int result = -1;
            if (rad_X.Checked)
            {

                result = 0;

            }

            if (rad_Y.Checked)
            {

                result = 1;

            }

            if (rad_Z.Checked)
            {

                result = 2;

            }

            if (rad_U.Checked)
            {

                result = 3;

            }

            return result;









        }


        /// <summary>
        /// 通过扫描获取当前网段的所有IP，并添加到下拉列表框中
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>

        private void Btn_ScanIP_Click(object sender, EventArgs e)
        {
            //定义存储扫描的IP组成字符串缓存对象
            var buffer = new StringBuilder();
            //搜索当前网段下控制器的IP
            int res = ZAux_SearchEthlist(buffer, 1024, 1000);
            if (res != 0)
            {

                MessageBox.Show("扫描IP地址失败");
                return;
            }

            //根据空格分隔出IP地址组成的数组
            var ips = buffer.ToString().Split(" ");
            //添加仿真环境的IP地址到下拉列表框中
            cmblps.Items.Add("127.0.0.1");

            //循环把获取的IP列表添加到下拉列表框中
            for (int i = 0; i < ips.Length - 1; i++)
            {

                cmblps.Items.Add(ips[i]);
            }

            //默认选择下拉列表框中第一个项
            cmblps.SelectedIndex = 0;


        }
        /// <summary>
        /// 连接与断开控制器的功能
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>

        private void button4_Click(object sender, EventArgs e)
        {
            //获取按钮的名称
            var btnContent = Btn_connect.Text;

            //判断是断开还是连接
            if (object.Equals(btnContent, "连接"))
            {
                //获取连接的IP地址
                var ip = cmblps.Text;
                //调用方法连接控制器
                int res = ZAux_OpenEth(ip, out handle);
                //判断是否连接成功
                if (res != 0)
                {
                    MessageBox.Show("连接失败，请检查IP地址是否正确");
                    return;

                }

                //修改按钮的显示字符串
                Btn_connect.Text = "断开";
                //修改LED灯的颜色
                LED.BackColor = Color.LimeGreen;
            }

            else //执行断开连接的操作
            {
                //判断连接的句柄是否为空
                if (handle != IntPtr.Zero)
                {

                    //关闭控制器连接
                    int res = ZAux_Close(handle);

                    if (res == 0)
                    {
                        //修改按钮的显示字符串
                        Btn_connect.Text = "连接";
                        //修改LED灯的颜色
                        LED.BackColor = Color.Gray;

                    }

                }


            }





        }

        private void button1_Click(object sender, EventArgs e)
        {

        }

        private void Btn_Right_MouseDown(object sender, MouseEventArgs e)
        {
            //获取规划的轴号
            var axis = GetPrfAxis();

            //设置轴类型
            ZAux_Direct_SetAtype(handle, axis, 1);

            //设置运动曲线，起始速度 运行速度 加速度 减速度 S曲线 脉冲当量
            ZAux_Direct_SetLspeed(handle, axis, Convert.ToSingle(txt_Lspeed.Text));
            ZAux_Direct_SetSpeed(handle, axis, Convert.ToSingle(txtSpeed.Text));
            ZAux_Direct_SetAccel(handle, axis, Convert.ToSingle(txtAcc.Text));
            ZAux_Direct_SetDecel(handle, axis, Convert.ToSingle(txtDeccl.Text));
            ZAux_Direct_SetSramp(handle, axis, Convert.ToSingle(txt_Sramp.Text));
            ZAux_Direct_SetUnits(handle, axis, Convert.ToSingle(txtUnits.Text));

            //启动连续启动
            ZAux_Direct_Single_Vmove(handle, axis, 1);
        }

        private void Btn_Right_MouseUp(object sender, MouseEventArgs e)
        {

        }

        private void Btn_Left_MouseDown(object sender, MouseEventArgs e)
        {
            //获取规划的轴号
            var axis = GetPrfAxis();

            //设置轴类型
            ZAux_Direct_SetAtype(handle, axis, 1);

            //设置运动曲线，起始速度 运行速度 加速度 减速度 S曲线 脉冲当量
            ZAux_Direct_SetLspeed(handle,axis,Convert.ToSingle(txt_Lspeed.Text));
            ZAux_Direct_SetSpeed(handle, axis, Convert.ToSingle(txtSpeed.Text));
            ZAux_Direct_SetAccel(handle, axis, Convert.ToSingle(txtAcc.Text));
            ZAux_Direct_SetDecel(handle, axis, Convert.ToSingle(txtDeccl.Text));
            ZAux_Direct_SetSramp(handle, axis, Convert.ToSingle(txt_Sramp.Text));
            ZAux_Direct_SetUnits(handle, axis, Convert.ToSingle(txtUnits.Text));

            //启动连续启动
            ZAux_Direct_Single_Vmove(handle,axis,-1);


        }

        private void Btn_Left_MouseUp(object sender, MouseEventArgs e)
        {
            //获取规划的轴号
            var axis=GetPrfAxis();

            //停止规划轴对应运动
            if (handle!=IntPtr.Zero)
            {
                int res=ZAux_Direct_Single_Cancel(handle,axis,2);
                if (res == 0)
                {
                    MessageBox.Show($"{axis}轴的运动停止成功");

                }
            }



        }
    }
}