修改默认位置

添加config

src/main/java/com/iflytop/gd/app/service/DeviceParamConfigService.java

@@ -75,7 +75,7 @@ public class DeviceParamConfigService extends ServiceImpl<DeviceParamConfigMappe
         return Arrays.stream(MId.values())
                 .map(e -> new ModuleIdVO(
                         e.name(),       // 枚举常量名
-                        e.name         // 描述字段
+                        e.description         // 描述字段
                 ))
                 .collect(Collectors.toList());
     }

src/main/java/com/iflytop/gd/hardware/command/handlers/AcidPumpHandler.java

@@ -5,7 +5,7 @@ import com.iflytop.gd.common.enums.cmd.CmdAction;
 import com.iflytop.gd.common.enums.cmd.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.AcidPumpDriver;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.gd.hardware.type.MId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

src/main/java/com/iflytop/gd/hardware/command/handlers/ClawHandler.java

@@ -7,7 +7,6 @@ import com.iflytop.gd.common.enums.cmd.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.drivers.MiniServoDriver.ClawDriver;
 import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoMId;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
 import com.iflytop.gd.hardware.type.MId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

src/main/java/com/iflytop/gd/hardware/command/handlers/DoorHandler.java

@@ -5,14 +5,12 @@ import com.iflytop.gd.common.enums.cmd.CmdAction;
 import com.iflytop.gd.common.enums.cmd.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.DoorDriver;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorCtrlDriver;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.gd.hardware.type.MId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
-import java.util.HashMap;
 import java.util.Map;
 import java.util.Set;
 import java.util.stream.Collectors;

src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java

@@ -5,7 +5,7 @@ import com.iflytop.gd.common.enums.cmd.CmdAction;
 import com.iflytop.gd.common.enums.cmd.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.HBotDriver;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.gd.hardware.type.MId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

src/main/java/com/iflytop/gd/hardware/command/handlers/HeaterMotorHandler.java

@@ -5,7 +5,7 @@ import com.iflytop.gd.common.enums.cmd.CmdAction;
 import com.iflytop.gd.common.enums.cmd.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.HeaterMotorDriver;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.gd.hardware.type.MId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java

@@ -6,7 +6,7 @@ import com.iflytop.gd.common.enums.cmd.CmdAction;
 import com.iflytop.gd.common.enums.cmd.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.ShakeMotorDriver;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.gd.hardware.type.MId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;

src/main/java/com/iflytop/gd/hardware/command/handlers/TrayMotorHandler.java

@@ -4,7 +4,7 @@ import com.iflytop.gd.common.cmd.DeviceCommand;
 import com.iflytop.gd.common.enums.cmd.CmdAction;
 import com.iflytop.gd.common.enums.cmd.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import com.iflytop.gd.hardware.drivers.StepMotorDriver.TrayMotorDriver;
 import com.iflytop.gd.hardware.type.MId;
 import lombok.RequiredArgsConstructor;

src/main/java/com/iflytop/gd/hardware/config/StepMotorConfig.java

@@ -0,0 +1,260 @@
+package com.iflytop.gd.hardware.config;
+
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
+import lombok.extern.slf4j.Slf4j;
+
+import java.util.Map;
+
+@Slf4j
+public class StepMotorConfig {
+    // 导程 配置
+    private final static double DEFAULT_LEAD = 10.0; // mm
+    final static Map<StepMotorMId, Double> stepMotorLeadMap = Map.ofEntries(
+            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 5.0),
+            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 4.0),
+            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 5.0)
+    );
+    // 电流配置
+    final static int DEFAULT_CURRENT = 8; // [0-31]
+    final static int HEATER_MOTOR_DEFAULT_CURRENT = 20;
+    final static int ACID_PUMP_MOTOR_DEFAULT_CURRENT = 8;
+    final static Map<StepMotorMId, Integer> stepMotorCurrentMap = Map.ofEntries(
+            Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 8),
+            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 31),
+            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 31),
+            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 31),
+            Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT),
+            Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_CURRENT)
+    );
+
+    // 速度配置
+    final static double DEFAULT_SPEED = 1.0; // mm/s
+    final static double HEATER_MOTOR_DEFAULT_SPEED = 1.0;
+    final static double ACID_PUMP_MOTOR_DEFAULT_SPEED = 1.0;
+    final static Map<StepMotorMId, Double> stepMotorSpeedMap = Map.ofEntries(
+            Map.entry(StepMotorMId.SHAKE_MOTOR_MID, 1.0),
+            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 20.0),
+            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 20.0),
+            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 20.0),
+            Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED),
+            Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_SPEED)
+    );
+
+    // 最小限位配置
+    static final double DEFAULT_MIN_LIMIT = 0.0; // mm
+    static final double HEATER_MOTOR_DEFAULT_MIN_LIMIT = 0.0;
+    static final double ACID_PUMP_MOTOR_DEFAULT_MIN_LIMIT = 0.0;
+    final static Map<StepMotorMId, Double> stepMotorMinLimitMap = Map.ofEntries(
+            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 0.0),
+            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 0.0),
+            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 0.0)
+    );
+
+    // 最大限位配置
+    static final double DEFAULT_MAX_LIMIT = 0.0; // mm
+    static final double HEATER_MOTOR_DEFAULT_MAX_LIMIT = 100.0;
+    static final double ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT = Double.MAX_VALUE;
+    final static Map<StepMotorMId, Double> stepMotorMaxLimitMap = Map.ofEntries(
+            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, 1500.0),
+            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, 800.0),
+            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, 300.0),
+            Map.entry(StepMotorMId.HEATER_1_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.HEATER_2_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.HEATER_3_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.HEATER_4_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.HEATER_5_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.HEATER_6_MOTOR_MID, HEATER_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.ACID_PUMP_1_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.ACID_PUMP_2_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.ACID_PUMP_3_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.ACID_PUMP_4_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.ACID_PUMP_5_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.ACID_PUMP_6_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.ACID_PUMP_7_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT),
+            Map.entry(StepMotorMId.ACID_PUMP_8_MOTOR_MID, ACID_PUMP_MOTOR_DEFAULT_MAX_LIMIT)
+    );
+
+    // 是否安装编码器
+    private final static boolean DEFAULT_ENCODER_INSTALLED = false;
+    static Map<StepMotorMId, Boolean> stepMotorEncoderMap = Map.ofEntries(
+            Map.entry(StepMotorMId.HBOT_X_MOTOR_MID, true),
+            Map.entry(StepMotorMId.HBOT_Y_MOTOR_MID, true),
+            Map.entry(StepMotorMId.HBOT_Z_MOTOR_MID, true)
+    );
+
+    /* ******************** ********************  ******************** */
+    /* ******************** 导程  ******************** */
+    /* ******************** ********************  ******************** */
+
+    // 从数据库拉取导程信息
+    private Double getLeadFromDB(StepMotorMId stepMotorId)
+    {
+        // TODO: 从数据库中获取导程
+        return null;
+    }
+
+    // 从默认配置中获取导程信息
+    private Double getLeadFromDefault(StepMotorMId stepMotorId)
+    {
+        return stepMotorLeadMap.getOrDefault(stepMotorId, DEFAULT_LEAD);
+    }
+
+    // 获取导程信息
+    public double getLead(StepMotorMId stepMotorId)
+    {
+        Double lead = getLeadFromDB(stepMotorId);
+        if (lead != null) {
+            return lead;
+        } else {
+            return getLeadFromDefault(stepMotorId);
+        }
+    }
+
+    /* ******************** ********************  ******************** */
+    /* ******************** 电流  ******************** */
+    /* ******************** ********************  ******************** */
+    // 从数据库拉取电流信息
+    private Integer getCurrentFromDB(StepMotorMId stepMotorId)
+    {
+        // TODO: 从数据库中获取电流
+        return null;
+    }
+
+    private Integer getCurrentFromDefault(StepMotorMId stepMotorId)
+    {
+        return stepMotorCurrentMap.getOrDefault(stepMotorId, DEFAULT_CURRENT);
+    }
+
+    public int getCurrent(StepMotorMId stepMotorId)
+    {
+        Integer current = getCurrentFromDB(stepMotorId);
+        if (current != null) {
+            return current;
+        } else {
+            return getCurrentFromDefault(stepMotorId);
+        }
+    }
+
+    /* ******************** ********************  ******************** */
+    /* ******************** 速度  ******************** */
+    /* ******************** ********************  ******************** */
+    // 从数据库拉取速度信息
+    private Double getSpeedFromDB(StepMotorMId stepMotorId)
+    {
+        // TODO: 从数据库中获取速度
+        return null;
+    }
+    private Double getSpeedFromDefault(StepMotorMId stepMotorId)
+    {
+        return stepMotorSpeedMap.getOrDefault(stepMotorId, DEFAULT_SPEED);
+    }
+
+    public double getSpeed(StepMotorMId stepMotorId)
+    {
+        Double speed = getSpeedFromDB(stepMotorId);
+        if (speed != null) {
+            return speed;
+        } else {
+            return getSpeedFromDefault(stepMotorId);
+        }
+    }
+
+    /* ******************** ********************  ******************** */
+    /* ******************** 最小限位  ******************** */
+    /* ******************** ********************  ******************** */
+    // 从数据库拉取最小限位信息
+    private Double getMinLimitFromDB(StepMotorMId stepMotorId)
+    {
+        // TODO: 从数据库中获取最小限位
+        return null;
+    }
+
+    private Double getMinLimitFromDefault(StepMotorMId stepMotorId)
+    {
+        return stepMotorMinLimitMap.getOrDefault(stepMotorId, DEFAULT_MIN_LIMIT);
+    }
+
+    public double getMinLimit(StepMotorMId stepMotorId)
+    {
+        Double minLimit = getMinLimitFromDB(stepMotorId);
+        if (minLimit != null) {
+            return minLimit;
+        } else {
+            return getMinLimitFromDefault(stepMotorId);
+        }
+    }
+
+    /* ******************** ********************  ******************** */
+    /* ******************** 最大限位  ******************** */
+    /* ******************** ********************  ******************** */
+    // 从数据库拉取最大限位信息
+    private Double getMaxLimitFromDB(StepMotorMId stepMotorId)
+    {
+        // TODO: 从数据库中获取最大限位
+        return null;
+    }
+
+    private Double getMaxLimitFromDefault(StepMotorMId stepMotorId)
+    {
+        return stepMotorMaxLimitMap.getOrDefault(stepMotorId, DEFAULT_MAX_LIMIT);
+    }
+
+    public double getMaxLimit(StepMotorMId stepMotorId)
+    {
+        Double maxLimit = getMaxLimitFromDB(stepMotorId);
+        if (maxLimit != null) {
+            return maxLimit;
+        } else {
+            return getMaxLimitFromDefault(stepMotorId);
+        }
+    }
+
+    /* ******************** ********************  ******************** */
+    /* ******************** 编码器  ******************** */
+    /* ******************** ********************  ******************** */
+    // 从数据库拉取编码器信息
+    private Boolean getEncoderFromDB(StepMotorMId stepMotorId)
+    {
+        //TODO: 从数据库中获取编码器
+        return null;
+    }
+
+    private Boolean getEncoderFromDefault(StepMotorMId stepMotorId)
+    {
+        return stepMotorEncoderMap.getOrDefault(stepMotorId, DEFAULT_ENCODER_INSTALLED);
+    }
+
+    public boolean isEncoderInstalled(StepMotorMId stepMotorId)
+    {
+        Boolean encoder = getEncoderFromDB(stepMotorId);
+        if (encoder != null) {
+            return encoder;
+        } else {
+            return getEncoderFromDefault(stepMotorId);
+        }
+    }
+}

src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java

@@ -3,7 +3,7 @@ package com.iflytop.gd.hardware.constants;
 
 import com.iflytop.gd.hardware.type.CmdId;
 import com.iflytop.gd.hardware.type.MId;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import jakarta.annotation.PostConstruct;
 import org.springframework.stereotype.Component;
 

src/main/java/com/iflytop/gd/hardware/controller/ServoController.java

@@ -2,8 +2,6 @@ package com.iflytop.gd.hardware.controller;
 
 import com.iflytop.gd.hardware.drivers.MiniServoDriver.DeviceServoId;
 import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoRegIndex;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.DeviceStepMotorId;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorRegIndex;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.ServoService;
 import io.swagger.v3.oas.annotations.Operation;

src/main/java/com/iflytop/gd/hardware/controller/StepMotorController.java

@@ -1,8 +1,10 @@
 package com.iflytop.gd.hardware.controller;
 
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.*;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.service.StepMotorService;
+import com.iflytop.gd.hardware.type.StepMotor.DeviceStepMotorId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorRegIndex;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorSpeedLevel;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import lombok.RequiredArgsConstructor;

src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java

@@ -1,6 +1,5 @@
 package com.iflytop.gd.hardware.drivers.MiniServoDriver;
 
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/AcidPumpDriver.java

@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.drivers.StepMotorDriver;
 
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java

@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.drivers.StepMotorDriver;
 
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HBotDriver.java

@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.drivers.StepMotorDriver;
 
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/HeaterMotorDriver.java

@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.drivers.StepMotorDriver;
 
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/ShakeMotorDriver.java

@@ -1,11 +1,10 @@
 package com.iflytop.gd.hardware.drivers.StepMotorDriver;
 
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
-import java.security.InvalidParameterException;
-
 @Slf4j
 @Component
 @RequiredArgsConstructor

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorCtrlDriver.java

@@ -4,6 +4,9 @@ import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
 import com.iflytop.gd.hardware.constants.ActionOvertimeConstant;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.type.*;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorRegIndex;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorSpeedLevel;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.springframework.stereotype.Component;

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorHelper.java

@@ -0,0 +1,81 @@
+package com.iflytop.gd.hardware.drivers.StepMotorDriver;
+
+/**
+ * @author iflytop
+ * @date 2023/10/12
+ * @description 步进电机助手类
+ * lead[S](导程): mm
+ * rps(转速): r/s
+ * rpm(转速): r/min
+ * r(转数): r
+ *
+ */
+public class StepMotorHelper {
+    static private final double kScale = 10000.0;
+
+    /* **** **** **** **** **** **** **** **** **** **** ****
+     * 位置转换
+     * 1. 用户位置 X
+     * 2. 用户单位距离 unit_X
+     * 3. R = X * kScale / motor_scale * motor_lead
+     * 4. unit_X(1mm/1ml) = R / S  = X * kScale / motor_scale * motor_lead / S
+     * 5. motor_scale == 10000.0 && motor_lead == S
+     * 6. unit_X(1mm/1ml) = X * kScale / motor_scale (X=1, 即 X = unit_X, 保证 kScale / motor_scale == 1)
+     * 7. kScale = motor_scale = 10000.0
+     *
+     **** **** **** **** **** **** **** **** **** **** **** */
+
+    /**
+     * 用户设置位置转换为控制器需要的位置
+     * @param position
+     * @return
+     */
+    static int toMotorPosition(double position)
+    {
+        return (int)(position * kScale);
+    }
+
+    /**
+     * 控制器位置转换为用户设置位置
+     * @param motorPosition
+     * @return
+     */
+    static double toUserPosition(int motorPosition)
+    {
+        return (double)motorPosition / kScale;
+    }
+
+    /* **** **** **** **** **** **** **** **** **** **** ****
+     * 速度转换
+     * 1. 用户速度 X/s
+     * 2. 电机速度 R/min
+     * 3. X/s = rps * S
+     * 4. rps = X/s / S
+     * 5. rps = rpm / 60.0
+     * 6. rpm = X/s * 60.0
+     * 7. rpm = X/s / S * 60.0
+     *
+     **** **** **** **** **** **** **** **** **** **** **** */
+
+    /**
+     * 用户设置速度转换为控制器需要的速度
+     * 用户速度 U_Speed xx/s
+     * 控制器速度 rpm
+     * S 导程
+     */
+    static int toMotorSpeed(double speed, double S)
+    {
+        return (int)(speed * 60.0 / S);
+    }
+
+    /**
+     * 控制器速度转换为用户设置速度
+     * 控制器速度 rpm
+     * 用户速度 U_Speed xx/s
+     * S 导程
+     */
+    static double toUserSpeed(int motorSpeed, double S)
+    {
+        return (double)motorSpeed * S / 60.0;
+    }
+}

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/TrayMotorDriver.java

@@ -1,5 +1,6 @@
 package com.iflytop.gd.hardware.drivers.StepMotorDriver;
 
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;

src/main/java/com/iflytop/gd/hardware/service/ServoService.java

@@ -4,7 +4,6 @@ import com.iflytop.gd.hardware.drivers.MiniServoDriver.DeviceServoId;
 import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoDriver;
 import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoMId;
 import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoRegIndex;
-import com.iflytop.gd.hardware.drivers.StepMotorDriver.DeviceStepMotorId;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.type.A8kEcode;
 import com.iflytop.gd.hardware.type.AppError;

src/main/java/com/iflytop/gd/hardware/service/StepMotorService.java

@@ -4,6 +4,10 @@ import com.iflytop.gd.hardware.drivers.StepMotorDriver.*;
 import com.iflytop.gd.hardware.exception.HardwareException;
 import com.iflytop.gd.hardware.type.A8kEcode;
 import com.iflytop.gd.hardware.type.AppError;
+import com.iflytop.gd.hardware.type.StepMotor.DeviceStepMotorId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorMId;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorRegIndex;
+import com.iflytop.gd.hardware.type.StepMotor.StepMotorSpeedLevel;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;

src/main/java/com/iflytop/gd/hardware/type/MId.java

@@ -63,11 +63,11 @@ public enum MId {
     AcidPump8M(291, "泵8电机"),
     ;
 
-    final public String name;
+    final public String description;
     final public int    index;
 
-    MId(int index, String name) {
-        this.name = name;
+    MId(int index, String description) {
+        this.description = description;
         this.index  = index;
     }
 
@@ -75,6 +75,11 @@ public enum MId {
         return index;
     }
 
+    public String getDescription()
+    {
+        return description;
+    }
+
 
     public static MId valueOf(Integer val) {
         return valueOf(val.intValue());

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DeviceStepMotorId.java → src/main/java/com/iflytop/gd/hardware/type/StepMotor/DeviceStepMotorId.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.hardware.drivers.StepMotorDriver;
+package com.iflytop.gd.hardware.type.StepMotor;
 
 
 public enum DeviceStepMotorId {

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorMId.java → src/main/java/com/iflytop/gd/hardware/type/StepMotor/StepMotorMId.java

@@ -1,7 +1,6 @@
-package com.iflytop.gd.hardware.drivers.StepMotorDriver;
+package com.iflytop.gd.hardware.type.StepMotor;
 
 import com.iflytop.gd.hardware.type.MId;
-import org.springframework.util.Assert;
 
 public enum StepMotorMId {
 	DOOR_MOTOR_MID(MId.DoorM),

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorRegIndex.java → src/main/java/com/iflytop/gd/hardware/type/StepMotor/StepMotorRegIndex.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.hardware.drivers.StepMotorDriver;
+package com.iflytop.gd.hardware.type.StepMotor;
 
 import com.iflytop.gd.hardware.type.RegIndex;
 

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/StepMotorSpeedLevel.java → src/main/java/com/iflytop/gd/hardware/type/StepMotor/StepMotorSpeedLevel.java

@@ -1,4 +1,4 @@
-package com.iflytop.gd.hardware.drivers.StepMotorDriver;
+package com.iflytop.gd.hardware.type.StepMotor;
 
 public enum StepMotorSpeedLevel {
 	DEFAULT,