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工程初始化:
git submodule update --init --recursive

# 测试指令
a8000_optical_close_laser (mid,type)
a8000_optical_module_power_ctrl (mid,state)
a8000_optical_open_laser (mid,type)
a8000_optical_read_laster_adc_val (type,mid)
a8000_optical_read_scanner_adc_val (type,mid)
a8000_optical_scan_current_point_amp_adc_val (type,mid,lastergain,ampgain)
a8000_optical_set_laster_gain (type,mid,gain)
a8000_optical_set_scan_amp_gain (type,mid,gain)
app_dump_reg (mid,regindex)
app_dump_regs (mid)
app_module_read_raw_str (mid,size)
app_scanmodule ()
app_wait_for_module (mid,timeout)
blower_set_val (bool on)
dumpreg (mid)
line_locking_solenoid_valve (bool on)
module_active_cfg (mid)
module_break (mid)
module_clear_error (mid)
module_enable (mid, enable)
module_factory_reset (mid)
module_flush_cfg (mid)
module_get_error (mid)
module_get_inited_flag (mid)
module_get_last_exec_status (mid)
module_get_reg (mid, param_id)
module_get_status (mid)
module_ping (mid)
module_read_adc (mid,adc_id, adcindex)
module_read_raw (mid, startindex)
module_readio (mid)
module_set_inited_flag (mid, flag)
module_set_reg (mid, param_id, param_value)
module_start (mid)
module_stop (mid)
module_writeio (mid,ioindex,io)
motor_calculated_pos_by_move_to_zero (mid)
motor_easy_move_by (mid, distance)
motor_easy_move_to (mid, position)
motor_easy_move_to_io (mid, ioindex, direction)
motor_easy_move_to_zero (mid, direction)
motor_easy_rotate (mid, direction)
motor_easy_set_current_pos (mid, pos)
motor_enable (mid, enable)
motor_move_by (mid, distance, motor_velocity, acc)
motor_move_by_acctime (mid, distance, motor_velocity, acctime)
motor_move_to (mid, position, motor_velocity, acc)
motor_move_to_acctime (mid, position, motor_velocity, acctime)
motor_move_to_torque (mid, pos, torque, overtime)
motor_move_to_zero_backward (mid, findzerospeed, findzeroedge_speed, acc, overtime)
motor_move_to_zero_backward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)
motor_move_to_zero_forward (mid, findzerospeed, findzeroedge_speed, acc, overtime)
motor_move_to_zero_forward_and_calculated_shift (mid, findzerospeed, findzeroedge_speed, acc, overtime)
motor_read_pos (mid)
motor_rotate (mid, direction, motor_velocity, acc)
motor_rotate_acctime (mid, direction, motor_velocity, acctime)
motor_rotate_with_torque (mid, pos, torque)
motor_set_current_pos_by_change_shift (mid, pos)
pipette_ctrl_init_device (mid)
pipette_ctrl_move_to_ul (mid, ul)
pipette_ctrl_put_tip (mid)
scanmodule ()
sleep_ms (ms)
xymotor_calculated_pos_by_move_to_zero (mid)
xymotor_enable (mid, enable)
xymotor_move_by (mid, dx, dy, motor_velocity)
xymotor_move_to (mid, x, y, motor_velocity)
xymotor_move_to_zero (mid)
xymotor_move_to_zero_and_calculated_shift (mid)
xymotor_read_pos (mid)


# 舵机控制
电机移动:  motor_easy_move_to(id,pos)
电机使能:  motor_enable(id,enable)
读取位置:  module_get_reg(id,1001)
设置扭矩:  module_set_reg(id,1077)
读取扭矩:  module_get_reg(id,1077)

# 电机控制
电机归零:  motor_easy_move_to_zero(id,-1);
电机移动:  motor_easy_move_to(id,pos)
电机使能:  motor_enable(id,enable)
读取位置:  module_get_reg(id,1001)

# XY控制
使能: xymotor_enable(id,enable)
归零: xymotor_move_to_zero(id)
移动: xymotor_move_to(id,x,y,velocity)
通过归零获取当前位置: xymotor_calculated_pos_by_move_to_zero(mid)

# 主轴控制
电机使能:  motor_enable(id,enable)
电机正转:  motor_easy_rotate (id, 1)
电机反转:  motor_easy_rotate (id, -1)
电机停止:  module_stop(id,pos)

# 继电器控制
    blower_set_val (bool on)
    line_locking_solenoid_valve (bool on)

# 延时
    sleep_ms (ms)

# 等待动作完成
    app_wait_for_module (mid,timeout)