chen
0587f7ac6c
- Axis: 新增运动学/功率/错误管理属性（_position 等 10+ 项） - Axis: 新增 doPower()/readState()/cycle() 接口骨架 - MC_Power: 实现功率使能功能块（边沿检测 + 状态输出） - GlobalResource: 新增 CreateAxis/GetAxisRefById 全局轴管理 - App/CMakeLists.txt: 添加 GlobalResource.cpp 源文件 - docs: 更新 Axis 属性清单与 MC_Power 设计文档
96 lines
1.5 KiB
C++
96 lines
1.5 KiB
C++
/**
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* @file Axis.cpp
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* @author
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* @brief
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* @version 0.1
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* @date 2026-07-02
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*
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* @copyright Copyright (c) 2026
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*
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*/
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#include <string>
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#include "Types.h"
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#include "Axis.h"
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namespace plcopen {
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Axis::Axis(UINT axisNo, std::string name) {
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_ref.axisNo = axisNo;
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_ref.axisName = std::move(name);
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_ref.axis = this;
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}
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void Axis::cycle()
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{
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if (_errorStop) return;
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if (!_powerEnabled) return;
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switch (_state) {
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case MC_AXIS_STATE::Disabled :
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{
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break;
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}
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case MC_AXIS_STATE::Standstill :
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{
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break;
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}
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case MC_AXIS_STATE::Stopping :
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{
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break;
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}
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// 独立运动
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case MC_AXIS_STATE::DiscreteMotion :
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{
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break;
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}
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// 持续运动
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case MC_AXIS_STATE::ContinuousMotion :
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{
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break;
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}
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// 同步运动
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case MC_AXIS_STATE::SynchronizedMotion :
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{
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break;
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}
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// 回零
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case MC_AXIS_STATE::Homing :
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{
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break;
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}
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default:
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{
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break;
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}
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}
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}
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void Axis::doPower(bool en)
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{
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if(en)
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{
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_powerEnabled = true;
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}
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else {
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_powerEnabled = false;
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_activeCommand.type = MotionCommandType::None;
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_velocity = 0.0;
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_acceleration = 0.0;
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_errorStop = false;
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_state = MC_AXIS_STATE::Disabled;
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}
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}
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MC_AXIS_STATE Axis::readState()
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{
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return _state;
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}
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} |