运动平台：日脉的二维运动平台（一个旋转平台和一个滑动平台）
开发环境：VS2010 + .NET Framework + VB.NET
使用文件：pci_8158.vb
motion_8158_2D.vb
2D平台运动类
Public Class motion_8158_2D
Public CardId As Integer
'move parameter here
'AxisNo is 0 or 1
Public AxisNo As Short
'Dist : mm
Public Dist As Double
'StrVel : mm/s
Public StrVel As Double
'MaxVel : mm/s
Public MaxVel As Double
'Tacc : s
Public Tacc As Double
'Tdec : s
Public Tdec As Double
Public Sub New(ByVal cardId1 As Integer)
CardId = cardId1
End Sub
Public Sub New(ByVal axisNo1 As Short, ByVal dist1 As Double, ByVal strVel1 As Double, ByVal maxVel1 As Double, ByVal tacc1 As Double, ByVal tdec1 As Double)
AxisNo = axisNo1
Dist = dist1
StrVel = strVel1
MaxVel = maxVel1
Tacc = tacc1
Tdec = tdec1
End Sub
Public Sub CardRegedit_8158_2d()
Dim code As Integer
code = B_8158_initial(CardId, )
'set axis num 0
B_8158_set_move_ratio(, )
B_8158_set_pls_outmode(, )
B_8158_set_servo(, )
'set axis num 1
B_8158_set_alm(, , )
B_8158_set_inp(, , )
B_8158_set_move_ratio(, )
B_8158_set_pls_outmode(, )
B_8158_set_move_ratio(, )
'code = B_8158_config_from_file()
'the axis num of x axis linear motion is 0
'the axis num of Ry axis ratary motion is 1
'Is has 8158 card 's drive
If (code <> ) Then
MsgBox("No 8158 Card exit！")
B_8158_close()
End If
'configure the input mode of external feedback pulse
B_8158_set_pls_iptmode(, , )
'set counter input source
B_8158_set_feedback_src(, )
End Sub
Public Sub LinearMotion()
Dim pulse_dist As Double = Dist *
Dim pulse_strVel As Double = StrVel *
Dim pulse_maxVel As Double = MaxVel *
B_8158_start_tr_move(AxisNo, pulse_dist, pulse_strVel, pulse_maxVel, Tacc, Tdec)
End Sub
Public Sub RotateMotion()
'rotation stage dec radio 1/5
Dim pulse_dist As Double = Dist * /
Dim pulse_strVel As Double = StrVel * /
Dim pulse_maxVel As Double = MaxVel * /
B_8158_start_tr_move(AxisNo, pulse_dist, pulse_strVel, pulse_maxVel, Tacc, Tdec)
End Sub
Public Function GetLinearSpeed() As Double
Dim s As Double
B_8158_get_current_speed(, s)
GetLinearSpeed = s /
End Function
Public Function GetRotSpeed() As Double
Dim s As Double
B_8158_get_current_speed(, s)
GetRotSpeed = s * /
End Function
End Class
新开辟一个线程，用While循环控制连续运动主窗体程序：
用事件委托的方法，向TextBox中写入数据
''' <summary>
''' aging motion control test software at 20130819
''' mail:bin___03@163.com
''' </summary>
''' <remarks></remarks>
''' Public Class Form1
'Control motion manually
Delegate Sub UpdateLogCallback(ByVal [text] As String)
Private manualMotion As Boolean = False
Dim MotionThread As System.Threading.Thread
Dim objMotion As motion_8158_2D = New motion_8158_2D()
Dim timeBegin As Date
Dim timeEnd As Date
Dim boolDuration As Boolean = False
Dim log As IO.StreamWriter
Dim logFileName As String Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load
Me.MaximumSize = Me.Size
Me.MinimumSize = Me.Size objMotion.CardRegedit_8158_2d() End Sub Private Sub btnStart_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles btnStart.Click
timeBegin = DateTime.Now
boolDuration = True
'MsgBox(timeBegin.ToString("yyyyMMddHHmmss"))
logFileName = timeBegin.ToString("yyMMddHHmmss") & ".txt"
log = New IO.StreamWriter(logFileName, True) manualMotion = True
btnStop.Enabled = True
btnStart.Enabled = False
tsslMovingStatus.Text = "moving..."
txtLog.Clear() MotionThread = New System.Threading.Thread(AddressOf ContinuuousMotion)
MotionThread.Start() End Sub Private Function isStopMotion() As Boolean
isStopMotion = True
For i = To
Dim temp As Short = B_8158_motion_done(i)
If B_8158_motion_done(i) <> Then
isStopMotion = False
Exit For
End If
Next
Return isStopMotion
End Function Sub ContinuuousMotion()
Dim objRandom As Random = New Random()
Dim tilt_old As Double =
Dim tilt_new As Double
'MsgBox(manualMotion)
While True If manualMotion Then
Exit While
End If End While While manualMotion
Dim rdn As Double = objRandom.NextDouble
If rdn <= 0.5 Then
tilt_new = - * rdn
Else
tilt_new = * rdn
End If Dim strLog As String =
">> " & DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss ") & "TILT:" & tilt_new.ToString & vbCrLf
UpdateLog(strLog)
log.Write(strLog) Threading.Thread.Sleep()
' rotate
objMotion = New motion_8158_2D(, tilt_new - tilt_old, , , 0.05, 0.05)
objMotion.RotateMotion() 'waiting for the motion stopped
While True
If isStopMotion() Then
Exit While
End If
End While Threading.Thread.Sleep()
'acc = 0.18g for 100mm for linear stage
objMotion = New motion_8158_2D(, , , , 0.05, 0.05)
objMotion.LinearMotion() 'waiting for the motion stopped
While True
If isStopMotion() Then
Exit While
End If
End While Threading.Thread.Sleep()
'acc = -0.18g for 100mm for linear stage
objMotion = New motion_8158_2D(, -, , , 0.05, 0.05)
objMotion.LinearMotion() 'waiting for the motion stopped
While True
If isStopMotion() Then
Exit While
End If
End While tilt_old = tilt_new
End While
End Sub Private Sub btnStop_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles btnStop.Click
boolDuration = False
manualMotion = False
btnStop.Enabled = False
btnStart.Enabled = True
tsslMovingStatus.Text = "stoped..."
UpdateLog(Application.StartupPath & "\" & logFileName)
log.Dispose()
log.Close()
MotionThread.Abort() B_8158_stop_move_all()
For i = To
B_8158_emg_stop(i)
B_8158_set_motion_int_factor(i, )
Next
B_8158_int_control(, )
End Sub Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick
txtLinearSpeed.Text = objMotion.GetLinearSpeed.ToString
txtRotSpeed.Text = objMotion.GetRotSpeed.ToString If boolDuration Then
'start button and stop button control boolDuration parameter
timeEnd = DateTime.Now
'timespan format write to duration time text
txtDurationTime.Text = (timeEnd - timeBegin).ToString("hh\:mm\:ss\.ff")
End If End Sub Private Sub Form1_FormClosed(ByVal sender As System.Object, ByVal e As System.Windows.Forms.FormClosedEventArgs) Handles MyBase.FormClosed
Try
B_8158_stop_move_all()
B_8158_close()
MotionThread.Abort()
log.Dispose()
log.Close()
Catch ex As Exception End Try End Sub Private Sub UpdateLog(ByVal [text] As String)
If InvokeRequired Then
Dim d As New UpdateLogCallback(AddressOf UpdateLog)
Me.Invoke(d, New Object() {[text]})
Else If txtLog.Lines.Count > Then
txtLog.Clear()
End If
txtLog.AppendText([text])
End If
End Sub End Class