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- using System;
- using System.Collections.Generic;
- using System.Linq;
- using System.Text;
- using System.Threading.Tasks;
- namespace SIASUN.Autopilot.Device.BeckHoff
- {
- public static class BeckhoffDrive
- {
- /// <summary>
- /// value值为正 执行油门踏板
- /// value值为负 执行刹车踏板
- /// </summary>
- /// <param name="value">输入需要的加速度</param>
- public static void Accelerator(float value)
- {
- // 输入value, 输出 要发送的值
- float mlvalue = value;
- if (value > 0) //加速
- OpcFactory.Instance.opcHelper.SetOpcSend("AccPsngCtrReq", mlvalue.ToString());
- else if (value < 0) //制动
- OpcFactory.Instance.opcHelper.SetOpcSend("BrkPsngCtrReq", mlvalue.ToString());
- }
- /// <summary>
- /// 转盘转动角度值
- /// </summary>
- /// <param name="value"></param>
- public static void SteerAngCt(float value)
- {
- //输入value, 输出 要发送的值
- float mlvalue = value;
- OpcFactory.Instance.opcHelper.SetOpcSend("StrAngCtrReq", mlvalue.ToString());
- }
- /// <summary>
- /// 电机控制器上电
- /// </summary>
- public static void AccCtrPowOn()
- {
- OpcFactory.Instance.opcHelper.SetOpcSend("AccCtrPowReq", "1");
- }
- /// <summary>
- /// 电机使能
- /// </summary>
- public static void AccCtrEngOn()
- {
- OpcFactory.Instance.opcHelper.SetOpcSend("AccMotEnReq", "1");
- }
- /// <summary>
- /// 清空学习表
- /// </summary>
- public static void AccCtrCleOn()
- {
- OpcFactory.Instance.opcHelper.SetOpcSend("ClrAccTbl", "1");
- }
- /// <summary>
- /// 控制请求
- /// </summary>
- public static void AccCtrReq()
- {
- //位置
- OpcFactory.Instance.opcHelper.SetOpcSend("AccPsngCtrReq", "1");
- //速度
- OpcFactory.Instance.opcHelper.SetOpcSend("AccSpdCtrReq", "1");
- //
- }
- }
- }
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