From e8a27bb203fe2aff70390a5eca002d7438da9b0f Mon Sep 17 00:00:00 2001
From: mrDarker <mr.darker@163.com>
Date: 星期三, 22 十月 2025 14:24:34 +0800
Subject: [PATCH] Merge branch 'clh' into liuyang
---
SourceCode/Bond/Servo/CPageGraph1.h | 33 +++++++++++++++++++++++++++++++++
1 files changed, 33 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CPageGraph1.h b/SourceCode/Bond/Servo/CPageGraph1.h
index 7609a49..ffd2aeb 100644
--- a/SourceCode/Bond/Servo/CPageGraph1.h
+++ b/SourceCode/Bond/Servo/CPageGraph1.h
@@ -27,12 +27,16 @@
public:
+ std::string GetConfigPath();
void InitRxWindows();
void UpdateDeviceStatus(int id, DeviceStatus status);
void UpdateRobotPosition(float percentage);
void RotateRobot(float angleInDegrees);
void BindEquipmentToGraph();
void MoveRobotToPosition(SERVO::ROBOT_POSITION position);
+ void StartRobotMoveToPosition(SERVO::ROBOT_POSITION position);
+ POINT LoadArmOffset(const std::string& armName);
+ void SaveArmOffset(const std::string& armName, const POINT& pt);
private:
IObserver* m_pObserver;
@@ -40,8 +44,37 @@
BOOL m_bIsRobotMoving;
COLORREF m_crBkgnd;
HBRUSH m_hbrBkgnd;
+
+ // ===== 鏈哄櫒浜哄姩鐢荤浉鍏虫垚鍛樺彉閲� =====
+
+ // 鍔ㄧ敾鐩爣浣嶇疆锛堟満鍣ㄤ汉鐩爣浣嶇疆鏋氫妇锛�
+ SERVO::ROBOT_POSITION m_targetRobotPosition;
+
+ // 鍔ㄧ敾璧峰鍜岀洰鏍� X 鍧愭爣锛堟按骞充綅绉伙級
+ int m_nRobotMoveStartX;
+ int m_nRobotMoveEndX;
+
+ // 鍔ㄧ敾姝ユ暟鎺у埗锛堟�绘鏁� & 褰撳墠姝ワ級
+ int m_nRobotMoveSteps; // 鍔ㄧ敾鎬绘鏁帮紙鎺у埗鍔ㄧ敾閫熷害锛�
+ int m_nRobotMoveCurrentStep; // 褰撳墠鍔ㄧ敾姝ユ暟杩涘害
+
+ // 鍔ㄧ敾璧峰鍜岀洰鏍囪搴︼紙鏃嬭浆瑙掑害锛屽崟浣嶏細搴︼級
+ float m_nRobotMoveStartAngle; // 璧峰瑙掑害
+ float m_nRobotMoveEndAngle; // 鐩爣瑙掑害锛堟棆杞搴︼級
+
+ // ===== 鏈哄櫒浜虹姸鎬佺浉鍏虫垚鍛樺彉閲� =====
+
+ // 涓婁竴娆″凡瀹屾垚鐨勪綅缃紙鐢ㄤ簬鍒ゆ柇鏄惁闇�瑕佺Щ鍔級
SERVO::ROBOT_POSITION m_lastRobotPosition;
+ // 涓婁竴娆″凡鏇存柊鐨勬満鍣ㄤ汉 ARM 鍗犵敤鐘舵�侊紙涓や釜鏈烘鑷傦級
+ BOOL m_lastArmState[2];
+
+ // 涓や釜鏈烘鑷傜浉瀵逛簬鏈哄櫒浜轰腑蹇冪殑鍋忕Щ锛堝儚绱犲潗鏍囷級
+ POINT m_arm1Offset;
+ POINT m_arm2Offset;
+
+
// 瀵硅瘽妗嗘暟鎹�
#ifdef AFX_DESIGN_TIME
enum { IDD = IDD_PAGE_GRAPH1 };
--
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