graphite-digester-service/src/main/java/com/iflytop/gd/hardware/constants/MiniServoConstant.java

package com.iflytop.gd.hardware.constants;

import com.iflytop.gd.hardware.type.Servo.MiniServoMId;
import org.springframework.util.Assert;

import java.util.Map;

public class MiniServoConstant {
	static public final Integer actionOvertime = 20000;
	static class MiniServoFixPosConfig {
		public Integer zeroPos;
		public Integer refPos;
	}

	static Map<MiniServoMId, MiniServoFixPosConfig> map = Map.of(
//			//摇匀模组Y轴
//			MiniServoMId.ShakeModGripperYSV, new MiniServoFixPosConfig() {{
//				zeroPos = 110;
//				refPos  = 100;//Y轴最外侧的位置
//			}},
//			//摇匀模组夹爪
//			MiniServoMId.ShakeModGripperSV, new MiniServoFixPosConfig() {{
//				zeroPos = 1600;
//				refPos  = 1800;//完全张开的位置
//			}},
//			//试管架夹紧
//			MiniServoMId.ShakeModTubeScanerClampingSV, new MiniServoFixPosConfig() {{
//				zeroPos = 1800;
//				refPos  = 1800;//水平位置
//			}},
//			//试管顶升舵机
//			MiniServoMId.ShakeModLiftingSV, new MiniServoFixPosConfig() {{
//				zeroPos = 644;//底部 644/3000 = 220/1024
//				refPos  = 644;//底部
//			}}
	);

	static public Integer getZeroPos(MiniServoMId mid) {
		var config = map.get(mid);
		Assert.notNull(config, "getZeroPos fail");
		return config.zeroPos;
	}

	static public Integer getRefPos(MiniServoMId mid) {
		var config = map.get(mid);
		Assert.notNull(config, "getRefPos fail");
		return config.refPos;
	}


}