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重构代码 删除ModId

tags/v0
zhaohe 1 year ago
parent
4ca019d605
commit
08a11de9c0
5 changed files with 80 additions and 176 deletions
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  1. 94
      src/main/java/a8k/a8k_can_protocol/ModId.java
  2. 1
      src/main/java/a8k/appbean/HardwareException.java
  3. 7
      src/main/java/a8k/controller/TmpTestController.java
  4. 52
      src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
  5. 102
      src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java

94
src/main/java/a8k/a8k_can_protocol/ModId.java
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@ -1,94 +0,0 @@
package a8k.a8k_can_protocol;
public class ModId {
public static final int HbotBoard = 10;//机械臂板模块
public static final int HbotM = 11;//机械臂XY
public static final int PlatesBoxBoard = 20;//板夹仓模块
public static final int PlatesBoxYM = 21;//板夹仓移动电机
public static final int PlatesBoxPusherM = 22;//板夹仓推杆电机
public static final int PlatesBoxScanner = 23;//板夹仓扫码模组
public static final int ShakeModBoard = 30;//摇匀模组板
public static final int ShakeModClampingM = 31;//试管固定夹爪电机
public static final int ShakeModGripperZM = 32;//摇匀升降电机
public static final int ShakeModShakeM = 33;//试管摇匀电机
public static final int ShakeModGripperYM = 34;//摇匀前后电机
public static final int ShakeModGripperSV = 35;//摇匀试管帽夹爪
public static final int ShakeModTubeScanerClampingSV = 36;//试管架旋转固定舵机
public static final int ShakeModTubeScanerRotateSV = 37;//试管架旋转舵机
public static final int PlatesBoxTCMBoard = 40;//反应板夹温度控制板
public static final int PlatesBoxTCM = 41;//反应板夹温度控制模块
public static final int WbTubeFanMod = 42;//气溶胶风扇
public static final int IncubatorTCMBoard = 50;//温度控制
public static final int IncubatorTCM = 51;//温度控制
public static final int FeedingModBoard = 60;//出入料模块
public static final int FeedingModInfeedM = 61;//入料电机
public static final int FeedingModXM = 62;//试管架平移电机
public static final int FeedingModOutfeedM = 63;//出料电机
public static final int FeedingModScannerMod = 64;//试管架扫码器
public static final int IncubatorRotateBoard = 70;//孵育盘旋转板
public static final int IncubatorRotateCtrlM = 71;//孵育盘旋转
public static final int PipetteModBoard = 80;//机械臂Z轴板
public static final int PipetteModZM = 81;//机械臂Z
public static final int PipetteMod = 82;//移液枪
public static final int PipetteModCodeScanner = 83;//物料扫码器
public static final int OptModBoard = 90;//光学模组板
public static final int OptModScannerM = 91;//板卡扫描电机
public static final int OptModPullM = 92;//板卡推杆电机
public static final int OptMod = 93;//扫描仪
public static final int A8kIdCardReaderBoard = 100; //A8K读卡器板
public static final int A8kIdCardReader = 101; //A8K读卡器
public static String ModuleId2Name(int moduleId) {
return switch (moduleId) {
case HbotBoard -> "HbotBoard";
case HbotM -> "HbotM";
case PlatesBoxBoard -> "PlatesBoxBoard";
case PlatesBoxYM -> "PlatesBoxYM";
case PlatesBoxPusherM -> "PlatesBoxPusherM";
case PlatesBoxScanner -> "PlatesBoxScanner";
case ShakeModBoard -> "ShakeModBoard";
case ShakeModClampingM -> "ShakeModClampingM";
case ShakeModGripperZM -> "ShakeModGripperZM";
case ShakeModShakeM -> "ShakeModShakeM";
case ShakeModGripperYM -> "ShakeModGripperYM";
case ShakeModGripperSV -> "ShakeModGripperSV";
case ShakeModTubeScanerClampingSV -> "ShakeModTubeScanerClampingSV";
case ShakeModTubeScanerRotateSV -> "ShakeModTubeScanerRotateSV";
case PlatesBoxTCMBoard -> "PlatesBoxTCMBoard";
case PlatesBoxTCM -> "PlatesBoxTCM";
case WbTubeFanMod -> "WbTubeFanMod";
case IncubatorTCMBoard -> "IncubatorTCMBoard";
case IncubatorTCM -> "IncubatorTCM";
case FeedingModBoard -> "FeedingModBoard";
case FeedingModInfeedM -> "FeedingModInfeedM";
case FeedingModXM -> "FeedingModXM";
case FeedingModOutfeedM -> "FeedingModOutfeedM";
case FeedingModScannerMod -> "FeedingModScannerMod";
case IncubatorRotateBoard -> "IncubatorRotateBoard";
case IncubatorRotateCtrlM -> "IncubatorRotateCtrlM";
case PipetteModBoard -> "PipetteModBoard";
case PipetteModZM -> "PipetteModZM";
case PipetteMod -> "PipetteMod";
case PipetteModCodeScanner -> "PipetteModCodeScanner";
case OptModBoard -> "OptModBoard";
case OptModScannerM -> "OptModScannerM";
case OptModPullM -> "OptModPullM";
case OptMod -> "OptMod";
case A8kIdCardReaderBoard -> "A8kIdCardReaderBoard";
case A8kIdCardReader -> "A8kIdCardReader";
default -> "UnknownModuleId(" + moduleId + ")";
};
}
}

1
src/main/java/a8k/appbean/HardwareException.java
View File

@ -2,7 +2,6 @@ package a8k.appbean;
import a8k.a8k_can_protocol.A8kEcode;
import a8k.a8k_can_protocol.MId;
import a8k.a8k_can_protocol.ModId;
public class HardwareException extends Exception {
// 构造函数

7
src/main/java/a8k/controller/TmpTestController.java
View File

@ -1,7 +1,7 @@
package a8k.controller;
import a8k.a8k_can_protocol.CmdId;
import a8k.a8k_can_protocol.ModId;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.HardwareException;
import a8k.appbean.ecode.AppEcode;
import a8k.base_hardware.A8kCanBusService;
@ -58,9 +58,8 @@ public class TmpTestController {
@GetMapping("/tmp-test/a8k-can-bus-service-call")
@ResponseBody
public String a8kCanBusServiceCall() throws HardwareException, InterruptedException {
this.a8kCanBusService.callcmd(ModId.ShakeModTubeScanerRotateSV, CmdId.mini_servo_enable.toInt(), new Integer[]{1});
this.a8kCanBusService.callblockcmd(ModId.FeedingModInfeedM, CmdId.step_motor_easy_move_by.toInt(), new Integer[]{5000}, 20000);
this.a8kCanBusService.callcmd(MId.ShakeModTubeScanerRotateSV.toInt(), CmdId.mini_servo_enable.toInt(), new Integer[]{1});
this.a8kCanBusService.callblockcmd(MId.FeedingModInfeedM.toInt(), CmdId.step_motor_easy_move_by.toInt(), new Integer[]{5000}, 20000);
return "OK";
}

52
src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java
View File

@ -47,17 +47,17 @@ public class MotorTubeRackMoveCtrlService {
public void setEnable( Boolean enable ) throws HardwareException {
this.a8kCanBusService.callcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModId.FeedingModInfeedM,
MId.FeedingModInfeedM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModId.FeedingModOutfeedM,
MId.FeedingModOutfeedM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
@ -65,17 +65,17 @@ public class MotorTubeRackMoveCtrlService {
public void stop() throws HardwareException {
this.a8kCanBusService.callcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_stop.toInt(),
1
);
this.a8kCanBusService.callcmd(
ModId.FeedingModInfeedM,
MId.FeedingModInfeedM.toInt(),
CmdId.step_motor_stop.toInt(),
1
);
this.a8kCanBusService.callcmd(
ModId.FeedingModOutfeedM,
MId.FeedingModOutfeedM.toInt(),
CmdId.step_motor_stop.toInt(),
1
);
@ -89,7 +89,7 @@ public class MotorTubeRackMoveCtrlService {
public void moveToZeroWhenDeviceSetup() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
@ -98,15 +98,15 @@ public class MotorTubeRackMoveCtrlService {
public void moveToZero() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
var beforePosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.step_motor_read_pos.toInt());
var beforePosResponse = this.a8kCanBusService.callcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_read_pos.toInt());
var beforePos = beforePosResponse.getContentI32(0);
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
var afterPosResponse = this.a8kCanBusService.callcmd(ModId.FeedingModXM, CmdId.step_motor_read_pos.toInt());
this.a8kCanBusService.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
var afterPosResponse = this.a8kCanBusService.callcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_read_pos.toInt());
var afterPos = afterPosResponse.getContentI32(0);
var distance = beforePos - afterPos;
var dval = a8kCanBusService.module_read_reg(ModId.FeedingModXM, RegIndex.kreg_step_motor_dpos);
var dval = a8kCanBusService.module_read_reg(MId.FeedingModXM.toInt(), RegIndex.kreg_step_motor_dpos);
if (Math.abs(dval - distance) > params.getHorizontalMotorLostStepThresholdVal() ) {
throw new HardwareException(MId.FeedingModXM, A8kEcode.MotorLostStep);
@ -133,7 +133,7 @@ public class MotorTubeRackMoveCtrlService {
public void moveTubeRackToEnterPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getTubeRackEnterPos(),
params.getActionOvertime()
@ -146,7 +146,7 @@ public class MotorTubeRackMoveCtrlService {
public void moveTubeRackToExitPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getTubeRackExitPos(),
params.getActionOvertime()
@ -159,7 +159,7 @@ public class MotorTubeRackMoveCtrlService {
public void moveTubeRackToScanPos() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getTubeRackScanCodePos(),
params.getActionOvertime()
@ -171,10 +171,10 @@ public class MotorTubeRackMoveCtrlService {
*/
public String moveTubeRackToScanPosAndScan() throws HardwareException, InterruptedException {
this.moveTubeRackToScanPos();
this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.code_scaner_start_scan.toInt());
this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
Thread.sleep(5000);
var response = this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.code_scaner_read_scaner_result.toInt());
this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.code_scaner_stop_scan.toInt());
var response = this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent();
return new String(contentBytes);
}
@ -193,7 +193,7 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao;
var scanPos = params.getTubeScanPos() + tubeIndex * params.getTubeSpacing();
this.a8kCanBusService.callblockcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
scanPos,
params.getActionOvertime()
@ -208,10 +208,10 @@ public class MotorTubeRackMoveCtrlService {
public String moveTubeToScanPosAndScan(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
this.moveTubeToScanPos(tubeType, tubeIndex);
this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.code_scaner_start_scan.toInt());
this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_start_scan.toInt());
Thread.sleep(5000);
var response = this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.code_scaner_read_scaner_result.toInt());
this.a8kCanBusService.callcmd(ModId.FeedingModScannerMod, CmdId.code_scaner_stop_scan.toInt());
var response = this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_read_scaner_result.toInt());
this.a8kCanBusService.callcmd(MId.FeedingModScannerMod.toInt(), CmdId.code_scaner_stop_scan.toInt());
var contentBytes = response.getCmdContent();
return new String(contentBytes);
}
@ -225,7 +225,7 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao;
var detectPos = params.getTubeHeighJudgmentPos() + tubeIndex * params.getTubeSpacing();
this.a8kCanBusService.callblockcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
detectPos,
params.getActionOvertime()
@ -241,7 +241,7 @@ public class MotorTubeRackMoveCtrlService {
var params = this.serviceParameterDao;
var pos = params.getTubePreProcessPos() + tubeIndex * params.getTubeSpacing();
this.a8kCanBusService.callblockcmd(
ModId.FeedingModXM,
MId.FeedingModXM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
pos,
params.getActionOvertime()
@ -260,7 +260,7 @@ public class MotorTubeRackMoveCtrlService {
public void moveTubeToExistJudgmentPos(String tubeType, Integer tubeIndex) throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
var pos = params.getTubeRackExitPos() + tubeIndex * params.getTubeSpacing();
this.a8kCanBusService.callblockcmd(ModId.FeedingModXM, CmdId.step_motor_easy_move_to.toInt(), new Integer[]{pos}, params.getActionOvertime());
this.a8kCanBusService.callblockcmd(MId.FeedingModXM.toInt(), CmdId.step_motor_easy_move_to.toInt(), new Integer[]{pos}, params.getActionOvertime());
}
public boolean isTubeRackInEnterPos() throws HardwareException {
@ -292,7 +292,7 @@ public class MotorTubeRackMoveCtrlService {
public void scanClampModuleCompress() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModTubeScanerClampingSV,
MId.ShakeModTubeScanerClampingSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
new Integer[]{params.getScanCodeClampPos()},
params.getActionOvertime()
@ -305,7 +305,7 @@ public class MotorTubeRackMoveCtrlService {
public void scanClampModuleReset() throws HardwareException, InterruptedException {
var params = this.serviceParameterDao;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModTubeScanerClampingSV,
MId.ShakeModTubeScanerClampingSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
new Integer[]{params.getScanCodeReleasePos()},
params.getActionOvertime()

102
src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
View File

@ -2,7 +2,7 @@ package a8k.service.hardware;
import a8k.a8k_can_protocol.CmdId;
import a8k.a8k_can_protocol.A8kEcode;
import a8k.a8k_can_protocol.ModId;
import a8k.a8k_can_protocol.MId;
import a8k.appbean.A8kTubeType;
import a8k.appbean.HardwareException;
import a8k.base_hardware.A8kCanBusService;
@ -35,33 +35,33 @@ public class SamplesPreProcessModuleCtrlService {
public void moveToZero() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModShakeM,
MId.ShakeModShakeM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModClampingM,
MId.ShakeModClampingM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
@ -78,27 +78,27 @@ public class SamplesPreProcessModuleCtrlService {
*/
public void enableModule(Boolean enable) throws HardwareException {
this.a8kCanBusService.callcmd(
ModId.ShakeModShakeM,
MId.ShakeModShakeM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModId.ShakeModClampingM,
MId.ShakeModClampingM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModId.ShakeModClampingM,
MId.ShakeModClampingM.toInt(),
CmdId.step_motor_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.mini_servo_enable.toInt(),
enable ? 1 : 0
);
this.a8kCanBusService.callcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.mini_servo_enable.toInt(),
enable ? 1 : 0
);
@ -122,7 +122,7 @@ public class SamplesPreProcessModuleCtrlService {
public A8kEcode takeTube(String tubeType,boolean judgeCapExist) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_takeCapPos(),
params.getActionOvertime()
@ -134,7 +134,7 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTubeTaskPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
motorUdTubeTaskPos,
params.getActionOvertime()
@ -142,17 +142,17 @@ public class SamplesPreProcessModuleCtrlService {
if ( judgeCapExist ) {
this.a8kCanBusService.callblockcmd(
ModId.ShakeModClampingM,
MId.ShakeModClampingM.toInt(),
CmdId.mini_servo_rotate_with_torque.toInt(),
params.getGripperServo_takeCapTorque(),
params.getActionOvertime()
);
this.a8kCanBusService.callcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.mini_servo_stop.toInt()
);
var pos = this.a8kCanBusService.callcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.mini_servo_read_pos.toInt()
);
if ( pos.getContentI32(0) > params.getGripperServo_hatDeterminesPosThres() ) {
@ -161,49 +161,49 @@ public class SamplesPreProcessModuleCtrlService {
}
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.mini_servo_rotate_with_torque.toInt(),
params.getGripperServo_takeCapTorque(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getZMotor_placeShakeHeight(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -227,14 +227,14 @@ public class SamplesPreProcessModuleCtrlService {
public A8kEcode takeTubeCap( String tubeType ) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getGripperServo_standbyPos(),
params.getActionOvertime()
@ -246,28 +246,28 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
motorUdTakeCapPos,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -281,14 +281,14 @@ public class SamplesPreProcessModuleCtrlService {
public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_takePushCapPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getGripperServo_standbyPos(),
params.getActionOvertime()
@ -300,28 +300,28 @@ public class SamplesPreProcessModuleCtrlService {
motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
}
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
motorUdTakeCapPos,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getGripperServo_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
0,
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
@ -345,7 +345,7 @@ public class SamplesPreProcessModuleCtrlService {
var startPos = standByPos - shakeDegree/2;
var endPos = standByPos + shakeDegree/2;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModShakeM,
MId.ShakeModShakeM.toInt(),
CmdId.step_motor_easy_reciprocating_motion.toInt(),
startPos,
endPos,
@ -359,14 +359,14 @@ public class SamplesPreProcessModuleCtrlService {
*/
public void openAerosolFan() throws HardwareException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callcmd(ModId.WbTubeFanMod, CmdId.fan_controler_set_speed.toInt(), params.getAerosolFanLevel());
this.a8kCanBusService.callcmd(MId.WbTubeFanMod.toInt(), CmdId.fan_controler_set_speed.toInt(), params.getAerosolFanLevel());
}
/**
* 关闭气溶胶风扇
*/
public void closeAerosolFan() throws HardwareException {
this.a8kCanBusService.callcmd(ModId.WbTubeFanMod, CmdId.fan_controler_set_speed.toInt(), 0);
this.a8kCanBusService.callcmd(MId.WbTubeFanMod.toInt(), CmdId.fan_controler_set_speed.toInt(), 0);
}
/**
@ -375,28 +375,28 @@ public class SamplesPreProcessModuleCtrlService {
public void moduleResetWhenPowerOn() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getTubeClampMotor_standbyPos()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModClampingM,
MId.ShakeModClampingM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModShakeM,
MId.ShakeModShakeM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
@ -408,46 +408,46 @@ public class SamplesPreProcessModuleCtrlService {
public void moduleRuntimeReset() throws HardwareException, InterruptedException {
var params = this.samplesPreProcessModuleCtrlParamsService;
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperSV,
MId.ShakeModGripperSV.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getTubeClampMotor_standbyPos()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperZM,
MId.ShakeModGripperZM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModGripperYM,
MId.ShakeModGripperYM.toInt(),
CmdId.mini_servo_move_to.toInt(),
params.getHorizontalMotor_standbyPos(),
params.getActionOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModClampingM,
MId.ShakeModClampingM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModClampingM,
MId.ShakeModClampingM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModShakeM,
MId.ShakeModShakeM.toInt(),
CmdId.step_motor_easy_move_to.toInt(),
0,
params.getMoveToZeroOvertime()
);
this.a8kCanBusService.callblockcmd(
ModId.ShakeModShakeM,
MId.ShakeModShakeM.toInt(),
CmdId.step_motor_easy_move_to_zero.toInt(),
params.getMoveToZeroOvertime()
);

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