~~

src/src/main/java/com/my/graphiteDigesterBg/MyDevice.java

@@ -11,7 +11,7 @@ public class MyDevice extends DiDevice {
     public static String ACT_TRANSFER_UD_MOTOR = "TransferArmUDMotor";
     public static String ACT_TRANSFER_LR_MOTOR = "TransferArmLRMotor";
     public static String ACT_TRANSFER_CLIP_SERVO = "TransferClipServeMotor";
-
+    public static String ACT_DOOR_MOTOR = "DoorMotor";
 
 
 

src/src/main/java/com/my/graphiteDigesterBg/diframe/DiCommand.java

@@ -6,8 +6,9 @@ public enum DiCommand {
     MODULE_GET_REG("module_get_reg", 0x0106),
     MODULE_ENABLE("module_enable", 0x0114),
     MOTOR_EASY_MOVE_BY("motor_easy_move_by", 0x0212),
+    MOTOR_EASY_MOVE_TO("motor_easy_move_to", 0x0213),
     MOTOR_EASY_MOVE_TO_ZERO("motor_easy_move_to_zero", 0x0214),
-    MOTO_EASY_MOVE_TO("moto_easy_move_to", 0x0213);
+    MOTOR_EASY_MOVE_TO_IO("motor_easy_move_to_io", 0x0216);
 
     // command name
     private final String name;

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActMotor.java

@@ -94,7 +94,7 @@ public class DiActMotor extends DiActuatorBase {
     // move to position
     public void moveTo( Integer pos ) {
         this.log("moveTo {}", pos);
-        this.call(DiCommand.MOTO_EASY_MOVE_TO, pos);
+        this.call(DiCommand.MOTOR_EASY_MOVE_TO, pos);
         this.waitForFinish();
     }
 
@@ -102,10 +102,14 @@ public class DiActMotor extends DiActuatorBase {
     public void moveTo( String key, Object ... args ) {
         Integer pos = this.getLocationValue(key, args);
         this.log("moveTo #{}={}", key, pos);
-        this.call(DiCommand.MOTO_EASY_MOVE_TO, pos);
+        this.call(DiCommand.MOTOR_EASY_MOVE_TO, pos);
         this.waitForFinish();
     }
 
-    public void rotate( Integer direction ) {}
-    public void stop() {}
+    // move to IO
+    public void moveToIO( Integer ioIndex, Integer direction ) {
+        this.log("moveToIO {} {}", ioIndex, direction);
+        this.call(DiCommand.MOTOR_EASY_MOVE_TO_IO, ioIndex, direction);
+        this.waitForFinish();
+    }
 }

src/src/main/java/com/my/graphiteDigesterBg/diframe/actuator/DiActServo.java

@@ -20,7 +20,7 @@ public class DiActServo extends DiActuatorBase {
     // move to position
     public void moveTo( Integer pos ) {
         this.log("moveTo", pos);
-        this.call(DiCommand.MOTO_EASY_MOVE_TO, pos);
+        this.call(DiCommand.MOTOR_EASY_MOVE_TO, pos);
         this.waitForFinish();
     }
 
@@ -28,7 +28,7 @@ public class DiActServo extends DiActuatorBase {
     public void moveTo( String key, Object... args ) {
         Integer pos = this.getLocationValue(key, args);
         this.log("moveTo #{}={}", key, pos);
-        this.call(DiCommand.MOTO_EASY_MOVE_TO, pos);
+        this.call(DiCommand.MOTOR_EASY_MOVE_TO, pos);
         this.waitForFinish();
     }
 

src/src/main/java/com/my/graphiteDigesterBg/task/TaskDoorClose.java

@@ -1,17 +1,17 @@
 package com.my.graphiteDigesterBg.task;
+import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiTaskBase;
 import com.my.graphiteDigesterBg.diframe.Task;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 @Task(name="DoorClose")
 public class TaskDoorClose extends DiTaskBase {
     @Override
     public void run() {
         this.setStatus(TaskStatus.RUNNING);
-        // @TODO : 关闭门
-        try {
-            Thread.sleep(3000);
-        } catch (InterruptedException e) {
-            throw new RuntimeException(e);
-        }
+
+        DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
+        doorMotor.moveToIO(1, 1);
+
         this.setStatus(TaskStatus.FINISHED);
     }
 }

src/src/main/java/com/my/graphiteDigesterBg/task/TaskDoorOpen.java

@@ -1,17 +1,17 @@
 package com.my.graphiteDigesterBg.task;
+import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiTaskBase;
 import com.my.graphiteDigesterBg.diframe.Task;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 @Task(name="DoorOpen")
 public class TaskDoorOpen extends DiTaskBase {
     @Override
     public void run() {
         this.setStatus(TaskStatus.RUNNING);
-        // @TODO : 打开门
-        try {
-            Thread.sleep(3000);
-        } catch (InterruptedException e) {
-            throw new RuntimeException(e);
-        }
+
+        DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
+        doorMotor.reset();
+
         this.setStatus(TaskStatus.FINISHED);
     }
 }

src/src/main/java/com/my/graphiteDigesterBg/task/TaskStartReset.java

@@ -13,6 +13,11 @@ public class TaskStartReset extends DiTaskBase {
         runtimeVars.set("IsDeviceReady", "NO");
         runtimeVars.set("IsTaskStartResetExecuting", "YES");
 
+        // 门电机
+        DiActMotor doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
+        doorMotor.setEnable(true);
+        doorMotor.moveToIO(1, 1);
+
         // 试管夹爪舵机
         DiActServo transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class);
         transferClipServo.setEnable(true);

src/src/main/resources/device.yml

@@ -1,11 +1,11 @@
 connection :
   class : com.my.graphiteDigesterBg.diframe.connection.DiConSerialPort
-  path : COM6
+  path : COM3
   baudRate : 921600
   frameTimeout : 100
   callTimeout : 5000
   mode : binary # text | hex | binary
-  commandLogEnable : false
+  commandLogEnable : true
 #  class : com.my.graphiteDigesterBg.diframe.connection.DiConWebsocket
 #  uri : ws://127.0.0.1:8899/device
 #  mode : hex
@@ -328,6 +328,23 @@ actuators :
     stepMotorIRun: 25
     volumePerCircle: 0.1
 
+  - name : 设备门电机
+    key: DoorMotor
+    mid: 61
+    type: Motor
+    shaft: 0
+    oneCirclePulse: 100
+    oneCirclePulseDenominator: 1
+    defaultVelocity: 50
+    defaultAcc: 300
+    defaultDec: 300
+    runToZeroSpeed: 50
+    runToZeroDec: 30
+    lookZeroEdgeSpeed: 50
+    lookZeroEdgeDec: 30
+    stepMotorIHold: 0
+    stepMotorIRun: 4
+
 # device registers
 registers :
   # 加热盘 Slot Cover