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52 lines
1.4 KiB
52 lines
1.4 KiB
package com.iflytop.gd.hardware.constants;
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import com.iflytop.gd.hardware.drivers.MiniServoDriver.MiniServoMId;
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import org.springframework.util.Assert;
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import java.util.Map;
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public class MiniServoConstant {
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static public final Integer actionOvertime = 10000;
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static class MiniServoFixPosConfig {
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public Integer zeroPos;
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public Integer refPos;
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}
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static Map<MiniServoMId, MiniServoFixPosConfig> map = Map.of(
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// //摇匀模组Y轴
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// MiniServoMId.ShakeModGripperYSV, new MiniServoFixPosConfig() {{
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// zeroPos = 110;
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// refPos = 100;//Y轴最外侧的位置
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// }},
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// //摇匀模组夹爪
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// MiniServoMId.ShakeModGripperSV, new MiniServoFixPosConfig() {{
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// zeroPos = 1600;
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// refPos = 1800;//完全张开的位置
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// }},
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// //试管架夹紧
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// MiniServoMId.ShakeModTubeScanerClampingSV, new MiniServoFixPosConfig() {{
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// zeroPos = 1800;
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// refPos = 1800;//水平位置
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// }},
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// //试管顶升舵机
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// MiniServoMId.ShakeModLiftingSV, new MiniServoFixPosConfig() {{
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// zeroPos = 644;//底部 644/3000 = 220/1024
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// refPos = 644;//底部
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// }}
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);
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static public Integer getZeroPos(MiniServoMId mid) {
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var config = map.get(mid);
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Assert.notNull(config, "getZeroPos fail");
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return config.zeroPos;
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}
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static public Integer getRefPos(MiniServoMId mid) {
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var config = map.get(mid);
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Assert.notNull(config, "getRefPos fail");
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return config.refPos;
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}
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}
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