C# GTS四轴运动控制器实例(固高科技步进电机不带编码器)

using System;using System.Windows.Forms;using gts;namespace 三维平移台控制系统{    public partial class mainFrom : DevComponents.DotNetBar.OfficeForm    {        public mainFrom(){            this.EnableGlass = false;            InitializeComponent();        }        short Rtn;        int  vel = 0;        int[] pos= {0,0,0 };        bool flag = false;        uint clk;        double prfpos, prfvel, encpos, encvel;        short AXIS = 1;        private void buttonX1_Click(object sender, EventArgs e){                      mc.GT_ZeroPos(AXIS, 1);            pos[AXIS-1] = 0;                   }        private void buttonX2_Click(object sender, EventArgs e){            //Rtn = mc.GT_Close();            Rtn = mc.GT_PrfTrap(AXIS);            mc.TTrapPrm trapprm;            mc.GT_GetTrapPrm(AXIS, out trapprm);            trapprm.acc = 0.1;//设置加速度            trapprm.dec = 0.1;//设置减速度            trapprm.smoothTime = 1;            mc.GT_SetTrapPrm(AXIS, ref trapprm);            pos[AXIS-1] += Convert.ToInt32(textBoxX1.Text);            vel = Convert.ToInt32(textBoxX2.Text);            mc.GT_SetPos(AXIS, pos[AXIS-1]);            mc.GT_SetVel(AXIS, vel);            // mc.GT_Update(AXIS);            mc.GT_Update(1 << (AXIS - 1));            //MessageBox.Show((1 << (AXIS - 1)).ToString());        }        private void buttonX3_Click(object sender, EventArgs e){            //Rtn = mc.GT_Close();            Rtn = mc.GT_PrfTrap(AXIS);            mc.TTrapPrm trapprm;            mc.GT_GetTrapPrm(AXIS, out trapprm);            trapprm.acc = 0.1;            trapprm.dec = 0.1;            trapprm.smoothTime = 1;            mc.GT_SetTrapPrm(AXIS, ref trapprm);            pos[AXIS-1] -= Convert.ToInt32(textBoxX1.Text);            vel = Convert.ToInt32(textBoxX2.Text);            mc.GT_SetPos(AXIS, pos[AXIS-1]);            mc.GT_SetVel(AXIS, vel);            //mc.GT_Update(AXIS);            mc.GT_Update(1 << (AXIS - 1));        }        private void timer1_Tick(object sender, EventArgs e){            //if ()            //{            //    mc.GT_GetPrfPos(AXIS, out prfpos, 1, out clk);// profile 起始轴号            //    mc.GT_GetEncPos(AXIS, out encpos, 1, out clk);// encoder 起始轴号            //    textBox3.Text = prfpos.ToString();            //    textBox5.Text = encpos.ToString();            //    mc.GT_GetPrfVel(AXIS, out prfvel, 1, out clk);// 起始规划轴号            //    mc.GT_GetEncVel(AXIS, out encvel, 1, out clk);// encoder 起始轴号            //    textBox4.Text = prfvel.ToString();            //    textBox6.Text = encvel.ToString();            //}            mc.GT_GetPrfPos(AXIS, out prfpos, 1, out clk);// profile 起始轴号            mc.GT_GetPrfVel(AXIS, out prfvel, 1, out clk);// 起始规划轴号            if (AXIS == 1)            {                labelX4.Text = "规划位置 : " + prfpos.ToString();                labelX5.Text = "规划速度 : " + prfvel.ToString();            }            else if (AXIS == 2)            {                labelX6.Text = "规划位置 : " + prfpos.ToString();                labelX7.Text = "规划速度 : " + prfvel.ToString();            }            else if (AXIS == 3)            {                labelX8.Text = "规划位置 : " + prfpos.ToString();                labelX9.Text = "规划速度 : " + prfvel.ToString();            }        }        private void mainFrom_Load(object sender, EventArgs e){            comboBoxEx1.SelectedIndex = 0;            textBoxX1.Text = "2000";            textBoxX2.Text = "10";            /*初始化*/            Rtn = mc.GT_Open(0, 1);            Rtn = mc.GT_Reset();            Rtn = mc.GT_LoadConfig("GTS800.cfg"); ;            Rtn = mc.GT_ClrSts(1, 8); //axis 起始轴号，count             timer1.Enabled = true;        }        private void comboBoxEx1_SelectedIndexChanged(object sender, EventArgs e){            switch (comboBoxEx1.SelectedItem.ToString())            {                case "X轴":                    AXIS = 1; break;                case "Y轴":                    AXIS = 2; break;                case "Z轴":                    AXIS = 3; break;                default:break;            }        }    }}