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[BUG]Add Jerk parameter to movement in service #43

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Merged
peterbarancek merged 2 commits into from
Oct 24, 2025
Merged

[BUG]Add Jerk parameter to movement in service #43

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a8130e7
Create draft PR for #42
github-actions[bot] Oct 24, 2025
4d8825c
+Single and Multi axis jerk added into movement in service
peterbarancek Oct 24, 2025
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7 changes: 7 additions & 0 deletions src/TcoDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoMultiAxis/TcoMultiAxisServiceViewModel.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -206,6 +206,8 @@ private void MoveToPosition()
this.Component._axis1._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis1.Velocity.Synchron;
this.Component._axis1._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis1.Acceleration.Synchron;
this.Component._axis1._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis1.Deceleration.Synchron;
this.Component._axis1._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis1.Jerk.Synchron;



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Copilot AI Oct 24, 2025

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[nitpick] The Jerk parameter is placed after Deceleration but before the Axis1MoveAllowed check. For consistency with the existing parameter pattern (Position, Velocity, Acceleration, Deceleration), consider moving the blank line 210 to after the Jerk assignment to maintain the same spacing pattern as other parameters.

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if ((bool)Axis1MoveAllowed)
Expand All @@ -218,6 +220,7 @@ private void MoveToPosition()
this.Component._axis2._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis2.Velocity.Synchron;
this.Component._axis2._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis2.Acceleration.Synchron;
this.Component._axis2._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis2.Deceleration.Synchron;
this.Component._axis2._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis2.Jerk.Synchron;


if ((bool)Axis2MoveAllowed)
Expand All @@ -229,6 +232,8 @@ private void MoveToPosition()
this.Component._axis3._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis3.Velocity.Synchron;
this.Component._axis3._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis3.Acceleration.Synchron;
this.Component._axis3._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis3.Deceleration.Synchron;
this.Component._axis3._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis3.Jerk.Synchron;



if ((bool)Axis3MoveAllowed)
Expand All @@ -240,6 +245,8 @@ private void MoveToPosition()
this.Component._axis4._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis4.Velocity.Synchron;
this.Component._axis4._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis4.Acceleration.Synchron;
this.Component._axis4._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis4.Deceleration.Synchron;
this.Component._axis4._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis4.Jerk.Synchron;



if ((bool)Axis4MoveAllowed)
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2 changes: 2 additions & 0 deletions ...coDrivesBeckhoff/src/TcoDrivesBeckhoff.Wpf/TcoSingleAxis/TcoSingleAxisServiceViewModel.cs
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Expand Up @@ -177,6 +177,8 @@ private void MoveToPosition()
this.Component._axis._moveAbsoluteTask._velocity.Synchron = SelectedItem.Axis1.Velocity.Synchron;
this.Component._axis._moveAbsoluteTask._acceleration.Synchron = SelectedItem.Axis1.Acceleration.Synchron;
this.Component._axis._moveAbsoluteTask._deceleration.Synchron = SelectedItem.Axis1.Deceleration.Synchron;
this.Component._axis._moveAbsoluteTask._jerk.Synchron = SelectedItem.Axis1.Jerk.Synchron;




Comment on lines +181 to 184
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Copilot AI Oct 24, 2025

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[nitpick] The Jerk parameter is placed after Deceleration with an extra blank line. For consistency with the existing parameter pattern (Position, Velocity, Acceleration, Deceleration), consider removing the blank line 181 to maintain the same spacing as the parameters above.

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Copilot uses AI. Check for mistakes.
Expand Down
2 changes: 1 addition & 1 deletion ...KukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_ECat_v_5_x_xServiceView.xaml.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ public TcoKrc4_Ecat_v_5_x_xServiceView()
{
if (DesignerProperties.GetIsInDesignMode(this))
{
this.DataContext = new TcoKrc4_v_5_x_xServiceViewModel();
this.DataContext = new TcoKrc4_Ecat_v_5_x_xServiceViewModel();
}

InitializeComponent();
Expand Down
2 changes: 1 addition & 1 deletion ...KukaRobotics/src/TcoKukaRobotics.Wpf/Krc4/Service/TcoKrc4_Ecat_v_5_x_xServiceViewModel.cs
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Expand Up @@ -21,7 +21,7 @@ public TcoKrc4_Ecat_v_5_x_xServiceViewModel() :base()

}
}
public class TcoKrc4_Ecat_v_5_x_xViewModel : TcoKrc4_v_5_x_xServiceViewModel
public class TcoKrc4_Ecat_v_5_x_xViewModel : TcoKrc4_Ecat_v_5_x_xServiceViewModel
{ }

}
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