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a8k_app
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update

tags/v0
zhaohe 1 year ago
parent
ce4c074818
commit
12262cd4de
7 changed files with 229 additions and 109 deletions
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  1. 36
      src/main/java/a8k/appbean/cfg/HbotLimitArea.java
  2. 4
      src/main/java/a8k/appbean/cfg/Pos3d.java
  3. 10
      src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java
  4. 11
      src/main/java/a8k/canbus/A8kCanBusService.java
  5. 21
      src/main/java/a8k/canbus/A8kModParamInitializer.java
  6. 6
      src/main/java/a8k/canbus/protocol/A8kPacket.java
  7. 250
      src/main/java/a8k/service/hardware/HbotControlService.java

36
src/main/java/a8k/appbean/cfg/HbotLimitArea.java
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@ -0,0 +1,36 @@
package a8k.appbean.cfg;
public class HbotLimitArea {
public Integer topLX;
public Integer topLY;
public Integer bottoLX;
public Integer bottoLY;
public HbotLimitArea(Integer topLX, Integer topLY, Integer bottoLX, Integer bottoLY) {
this.topLX = topLX;
this.topLY = topLY;
this.bottoLX = bottoLX;
this.bottoLY = bottoLY;
}
public HbotLimitArea() {
this.topLX = 0;
this.topLY = 0;
this.bottoLX = 0;
this.bottoLY = 0;
}
public Boolean checkIsInArea(Integer x, Integer y) {
if (x >= topLX && x <= bottoLX && y >= topLY && y <= bottoLY) {
return true;
}
return false;
}
public Boolean checkIsInArea(Pos2d pos) {
return checkIsInArea(pos.x, pos.y);
}
}

4
src/main/java/a8k/appbean/cfg/Pos3d.java
View File

@ -13,4 +13,8 @@ public class Pos3d {
this.y = y;
this.z = z;
}
public Pos2d getXYPos() {
return new Pos2d(x, y);
}
}

10
src/main/java/a8k/appbean/cfg/TipPickUpPosInfo.java
View File

@ -6,8 +6,8 @@ public class TipPickUpPosInfo {
public Pos2d g1tl;
public Pos2d g2tl;
public Double xSpacing; //x间隔
public Double ySpacing; //y间隔
public Integer xSpacing; //x间隔
public Integer ySpacing; //y间隔
public Integer pickUpZPos; //拾取高度
@ -18,12 +18,12 @@ public class TipPickUpPosInfo {
g0tl = new Pos2d(0, 0);
g1tl = new Pos2d(0, 0);
g2tl = new Pos2d(0, 0);
xSpacing = 0.0;
ySpacing = 0.0;
xSpacing = 0;
ySpacing = 0;
pickUpZPos = 0;
}
public TipPickUpPosInfo(Pos2d g0tl, Pos2d g1tl, Pos2d g2tl, Double xSpacing, Double ySpacing, Integer pickUpZPos) {
public TipPickUpPosInfo(Pos2d g0tl, Pos2d g1tl, Pos2d g2tl, Integer xSpacing, Integer ySpacing, Integer pickUpZPos) {
this.g0tl = g0tl;
this.g1tl = g1tl;
this.g2tl = g2tl;

11
src/main/java/a8k/canbus/A8kCanBusService.java
View File

@ -193,10 +193,21 @@ public class A8kCanBusService {
callcmd(id.toInt(), CmdId.pipette_ctrl_init_device.toInt());
}
public void pipetteCtrlInitDeviceBlock(MId id, Integer actionOvertime) throws HardwareException, InterruptedException {
pipetteCtrlInitDevice(id);
waitForMod(id, actionOvertime);
}
public void pipetteCtrlPutTip(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.pipette_ctrl_put_tip.toInt());
}
public void pipetteCtrlPutTipBlock(MId id) throws HardwareException, InterruptedException {
pipetteCtrlPutTip(id);
waitForMod(id, 10000);
}
public void pipetteCtrlPrepare(MId id) throws HardwareException {
callcmd(id.toInt(), CmdId.pipette_lld_prepare.toInt());
}

21
src/main/java/a8k/canbus/A8kModParamInitializer.java
View File

@ -48,18 +48,18 @@ public class A8kModParamInitializer implements AppEventListener {
*/
canBus.moduleSetReg(MId.FeedingModXM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.ShakeModClampingM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_pos_devi_tolerance, 20);
canBus.moduleSetReg(MId.ShakeModShakeM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.OptModPullM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.OptModScannerM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.PipetteModZM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.PipetteModZM, RegIndex.kret_step_motor_pos_devi_tolerance, 20);
canBus.moduleSetReg(MId.IncubatorRotateCtrlM, RegIndex.kret_step_motor_pos_devi_tolerance, 5);
canBus.moduleSetReg(MId.FeedingModXM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.ShakeModClampingM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.ShakeModGripperZM, RegIndex.kret_step_motor_io_trigger_append_distance, 20);
canBus.moduleSetReg(MId.ShakeModShakeM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kret_step_motor_io_trigger_append_distance, 10);
canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kret_step_motor_io_trigger_append_distance, 3);
@ -86,20 +86,19 @@ public class A8kModParamInitializer implements AppEventListener {
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_min_x, -100);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_min_y, -100);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_min_x, -100);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_min_y, -100);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_vstart, 1);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_a1, 5);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_amax, 10);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_v1, 300);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_dmax, 10);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_amax, 15);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_v1, 100);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_dmax, 15);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_d1, 5);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_vstop, 1);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_tzerowait, 300);
canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_one_circle_pulse, 7215);
canBus.moduleSetReg(MId.PipetteModZM, RegIndex.kreg_step_motor_default_velocity, 1500);
// canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_run_to_zero_speed, 300);
// canBus.moduleSetReg(MId.HbotM, RegIndex.kreg_xyrobot_one_circle_pulse, 7215);
// canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_run_to_zero_speed, 500);
}

6
src/main/java/a8k/canbus/protocol/A8kPacket.java
View File

@ -133,8 +133,10 @@ public class A8kPacket {
return false;
}
if (CmdId.module_get_reg.equals(cmdid) || CmdId.module_set_reg.equals(cmdid)) {
RegIndex regIndex = RegIndex.valueOf(getContentI32(0));
return regIndex != null;
if (getPacketType() == PACKET_TYPE_CMD) {
RegIndex regIndex = RegIndex.valueOf(getContentI32(0));
return regIndex != null;
}
}
return true;
}

250
src/main/java/a8k/service/hardware/HbotControlService.java
View File

@ -10,12 +10,16 @@ import a8k.canbus.protocol.MId;
import a8k.canbus.protocol.RegIndex;
import a8k.service.db.entity.HardwareServiceSetting;
import a8k.utils.*;
import com.fasterxml.jackson.databind.ObjectMapper;
import jakarta.annotation.Resource;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.springframework.context.ApplicationContext;
import org.springframework.stereotype.Component;
import java.util.HashMap;
import java.util.Map;
/**
* Hbot控制服务
@ -43,6 +47,11 @@ public class HbotControlService implements HardwareCtrlModule {
return settingReader.getInteger("ActionOvertime", 10000);
}
@HardwareServiceParam(name = "归零超时事件", group = "基础配置")
public Integer getRuntoZeroActionOvertime() {
return settingReader.getInteger("RuntoZeroActionOvertime", 20000);
}
@HardwareServiceParam(name = "扫码超时时间", group = "基础配置")
public Integer getScancodeOvertime() {
return settingReader.getInteger("ActionOvertime", 1000);
@ -61,21 +70,21 @@ public class HbotControlService implements HardwareCtrlModule {
public TipPickUpPosInfo getTipPickUpPosInfo() {
return settingReader.getObject("TipPickUpPosInfo", TipPickUpPosInfo.class,
new TipPickUpPosInfo(
new Pos2d(903, -11),
new Pos2d(0, 0),
new Pos2d(0, 0),
92.4,
92.4,
0));
new Pos2d(887, -15),
new Pos2d(887, -15),
new Pos2d(887, -15),
92,
92,
585));
}
@HardwareServiceParam(name = "Tip丢弃位置", group = "简单位置坐标")
public Pos3d getTipDropPos() {
return new Pos3d(
0,
0,
0
4873,
2563,
661
);
}
@ -139,14 +148,22 @@ public class HbotControlService implements HardwareCtrlModule {
return settingReader.getInteger("CommonAreaYLimit", 0);
}
@HardwareServiceParam(name = "Hbot采样区", group = "限制值")
public HbotLimitArea getSampleCollectionArea() {
return settingReader.getObject("HbotPublicArea", HbotLimitArea.class,
new HbotLimitArea(0, 0, 601, 3151));
}
public Integer getGripperZeroYPos() {
//之所以这样写，是因为是为了放置两个类之间的循环依赖
return appCxt.getBean(SamplesPreProcessModuleCtrlService.class).getGripperZeroYPos();
}
/*
* 基础方法
*/
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 基础控制
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
private void checkPublicArea() throws HardwareException {
if (canBus.miniServoReadPos(MId.ShakeModGripperYSV) > getGripperZeroYPos() + 20) {
logger.error("ShakeModGripperYSV Pos:{} > {}", canBus.miniServoReadPos(MId.ShakeModGripperYSV), getGripperZeroYPos() + 20);
@ -154,24 +171,55 @@ public class HbotControlService implements HardwareCtrlModule {
}
}
private void checkBeforeHbotRun(Pos2d targetPos) throws HardwareException {
/**
* Hboot 移动
* @param targetPos 目标位置
* @throws HardwareException e
* @throws InterruptedException e
*/
private void hbotCheckAndMoveTo(Pos3d targetPos) throws HardwareException, InterruptedException {
if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
throw new HardwareException(A8kEcode.PlateBoxNotCover);
}
if (targetPos.y > getCommonAreaYLimit()) {
checkPublicArea();
}
//Z轴归零
canBus.stepMotorEnable(MId.PipetteModZM, 1);
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
if (!getZPPS()) {
throw new HardwareException(A8kEcode.ZMNotAtZPosWhenHbotTryMove);
}
Pos2d nowHbotPos = canBus.hbotReadPos(MId.HbotM);
HbotLimitArea sampleArea = getSampleCollectionArea();
//检查采样区域是否有障碍
if (sampleArea.checkIsInArea(nowHbotPos) || sampleArea.checkIsInArea(targetPos.getXYPos())) {
checkPublicArea();
}
//HBot移动
canBus.hbotEnable(MId.HbotM, 1);
canBus.hbotMoveToBlock(MId.HbotM, targetPos.x, targetPos.y, getRuntoZeroActionOvertime());
//Z轴移动
zMoveTo(targetPos.z);
}
private void zMoveTo(Integer z) throws HardwareException, InterruptedException {
if (z == 0) {
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
} else {
canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, z, getActionOvertime());
}
}
private void hbotCheckAndMoveTo(Pos2d targetPos) throws HardwareException, InterruptedException {
hbotCheckAndMoveTo(new Pos3d(targetPos.x, targetPos.y, 0));
}
/**
* 下面脚本中涉及到的动作，如果正常结束，Z轴均移动的0位置。
*/
@HardwareServiceAction(name = "模块使能", group = "基础控制")
@Override public void modGroupEnable(Boolean enable) throws HardwareException, InterruptedException {
if (enable) {
@ -188,30 +236,77 @@ public class HbotControlService implements HardwareCtrlModule {
@HardwareServiceAction(name = "模块归零", group = "基础控制")
@Override public void modGroupMoveToZero() throws HardwareException, InterruptedException {
if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
throw new HardwareException(A8kEcode.PlateBoxNotCover);
}
//归零前检查
checkPublicArea();
canBus.stepMotorEnable(MId.PipetteModZM, 1);
canBus.hbotEnable(MId.HbotM, 1);
canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, getRuntoZeroActionOvertime());
canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, getActionOvertime());
//丢弃tip
Pos3d dropPos = getTipDropPos();
hbotCheckAndMoveTo(dropPos);
canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, getRuntoZeroActionOvertime());
checkBeforeHbotRun(new Pos2d(0, 0));
canBus.hbotMoveToZeroBlock(MId.HbotM, getActionOvertime());
//快速归零
modGroupMoveToZeroQuick();
}
@HardwareServiceAction(name = "模块快速归零", group = "基础控制")
@Override public void modGroupMoveToZeroQuick() throws HardwareException, InterruptedException {
checkPublicArea();
canBus.stepMotorEnable(MId.PipetteModZM, 1);
canBus.hbotEnable(MId.HbotM, 1);
hbotCheckAndMoveTo(new Pos2d(0, 0));
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 单步测试
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
@HardwareServiceAction(name = "丢Tip", group = "单步测试")
public void dropTip() throws HardwareException, InterruptedException {
Pos3d pos = getTipDropPos();
hbotMoveTo(pos.x, pos.y);
zMoveTo(pos.z);
canBus.pipetteCtrlPutTip(MId.PipetteMod);
}
@HardwareServiceAction(name = "取Tip", group = "单步测试")
public AppRet<Boolean> takeTip(Integer groupId, Integer index) throws HardwareException, InterruptedException {
logger.info("takeTip groupId:{} index:{}", groupId, index);
if (groupId > 2 || groupId < 0) {
throw new HardwareException(A8kEcode.ParamOutOfRange);
}
if (index > TipPickUpPosInfo.ROW_MAX * TipPickUpPosInfo.COL_MAX || index < 0) {
throw new HardwareException(A8kEcode.ParamOutOfRange);
}
TipPickUpPosInfo tipPos = getTipPickUpPosInfo();
Pos2d pos = tipPos.getTipPos(groupId, index);
hbotMoveTo(pos.x, pos.y);
canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.pickUpZPos, getActionOvertime());
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
checkBeforeHbotRun(new Pos2d(0, 0));
canBus.hbotMoveToBlock(MId.HbotM, 0, 0, getActionOvertime());
canBus.hbotMoveToZeroBlock(MId.HbotM, getActionOvertime());
Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
if (!isGetTip) {
logger.error("takeTip fail");
}
return AppRet.success(isGetTip);
}
@HardwareServiceAction(name = "HBot移动到", group = "单步测试")
public void hbotMoveTo(Integer x, Integer y) throws HardwareException, InterruptedException {
hbotCheckAndMoveTo(new Pos2d(x, y));
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 坐标获取工具
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
@HardwareServiceAction(name = "Hbot使能", group = "坐标获取工具")
public void hBotEnable() throws HardwareException, InterruptedException {
canBus.hbotEnable(MId.HbotM, 1);
@ -232,74 +327,47 @@ public class HbotControlService implements HardwareCtrlModule {
canBus.stepMotorEnable(MId.PipetteModZM, 0);
}
@HardwareServiceAction(name = "读取Z轴坐标", group = "坐标获取工具")
@HardwareServiceAction(name = "归零读取Z轴坐标", group = "坐标获取工具")
public AppRet<Integer> readZAxisPosByMoveToZero() throws HardwareException, InterruptedException {
return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.PipetteModZM, getActionOvertime()));
}
@HardwareServiceAction(name = "HBot移动到", group = "基础控制")
public void hbotMoveTo(Integer x, Integer y) throws HardwareException, InterruptedException {
checkPublicArea();
checkBeforeHbotRun(new Pos2d(x, y));
canBus.hbotEnable(MId.HbotM, 1);
canBus.hbotMoveToBlock(MId.HbotM, x - 20, y - 20, getActionOvertime());
canBus.hbotMoveToBlock(MId.HbotM, x, y - 15, getActionOvertime());
// Thread.sleep(200);
canBus.hbotMoveToBlock(MId.HbotM, x, y, getActionOvertime());
}
public void zMoveTo(Integer z) throws HardwareException, InterruptedException {
canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, z, getActionOvertime());
}
//取tip
@HardwareServiceAction(name = "取Tip", group = "单步操作")
public AppRet<Boolean> takeTip(Integer groupId, Integer index) throws HardwareException, InterruptedException {
logger.info("takeTip groupId:{} index:{}", groupId, index);
if (groupId > 2 || groupId < 0) {
throw new HardwareException(A8kEcode.ParamOutOfRange);
}
if (index > TipPickUpPosInfo.ROW_MAX * TipPickUpPosInfo.COL_MAX || index < 0) {
throw new HardwareException(A8kEcode.ParamOutOfRange);
}
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 测试
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
Boolean testTakeTipFlag;
private AppRet<Boolean> takeTipTestStep(Integer groupId, Integer index) throws HardwareException, InterruptedException {
var ret = takeTip(groupId, index);
TipPickUpPosInfo tipPos = getTipPickUpPosInfo();
Pos2d pos = tipPos.getTipPos(groupId, index);
hbotMoveTo(pos.x, pos.y);
canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.pickUpZPos, getActionOvertime());
canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.pickUpZPos - 100, getActionOvertime());
canBus.pipetteCtrlPutTipBlock(MId.PipetteMod);
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
return ret;
}
Boolean isGetTip = canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
if (!isGetTip) {
logger.error("takeTip fail");
@HardwareServiceAction(name = "取全部Tip", group = "测试脚本")
public AppRet<Map<String, String>> testTakeAllTip(Integer group, Integer startFrom) throws HardwareException, InterruptedException {
// ObjectMapper mapper = new ObjectMapper();
testTakeTipFlag = true;
Map<String, String> result = new HashMap<>();
for (int i = startFrom; i < TipPickUpPosInfo.COL_MAX * TipPickUpPosInfo.ROW_MAX; i++) {
var ret = takeTipTestStep(group, i);
result.put("Tip" + i, ret.getData() ? "suc" : "fail");
logger.info("Take Tip {}-{} => {}", group, i, ret.getData());
if (!testTakeTipFlag) {
break;
}
}
return AppRet.success(isGetTip);
return AppRet.success(result);
}
@HardwareServiceAction(name = "取Tip测试", group = "测试")
public AppRet<Boolean> takeTipTest(Integer groupId, Integer index) throws HardwareException, InterruptedException {
var ret = takeTip(groupId, index);
TipPickUpPosInfo tipPos = getTipPickUpPosInfo();
canBus.stepMotorEasyMoveToBlock(MId.PipetteModZM, tipPos.pickUpZPos, getActionOvertime());
canBus.pipetteCtrlPutTip(MId.PipetteMod);
canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
return ret;
@HardwareServiceAction(name = "停止取全部Tip", group = "测试脚本")
public void testTakeAllTipStop() throws HardwareException, InterruptedException {
testTakeTipFlag = false;
}
//丢tip
@HardwareServiceAction(name = "丢Tip", group = "单步操作")
public void dropTip() throws HardwareException, InterruptedException {
Pos3d pos = getTipDropPos();
hbotMoveTo(pos.x, pos.y);
zMoveTo(pos.z);
canBus.pipetteCtrlPutTip(MId.PipetteMod);
}
private AppRet<String> hBotMoveToAndScan(Pos2d pos) throws HardwareException, InterruptedException {
hbotMoveTo(pos.x, pos.y);
@ -353,27 +421,27 @@ public class HbotControlService implements HardwareCtrlModule {
}
// @HardwareServiceStatus(name = "Z轴光电⬆")
@HardwareServiceStatus(name = "Z轴光电⬆")
public Boolean getZPPS() throws HardwareException {
return canBus.stepMotorReadIoState(MId.PipetteModZM, 0);
}
// @HardwareServiceStatus(name = "X轴光电➡")
@HardwareServiceStatus(name = "X轴光电➡")
public Boolean getXPPS() throws HardwareException {
return canBus.hbotReadInio(MId.HbotM, 0);
}
// @HardwareServiceStatus(name = "Y轴光电⬇")
@HardwareServiceStatus(name = "Y轴光电⬇")
public Boolean getYPPS() throws HardwareException {
return canBus.hbotReadInio(MId.HbotM, 1);
}
// @HardwareServiceStatus(name = "TipState")
// public Boolean getTipPPS() throws HardwareException {
// return canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
// }
// @HardwareServiceStatus(name = "TipState")
public Boolean getTipPPS() throws HardwareException {
return canBus.moduleGetReg(MId.PipetteMod, RegIndex.kreg_pipette_tip_state) == 1;
}
// @HardwareServiceStatus(name = "HbotPos")
@HardwareServiceStatus(name = "HbotPos")
public String getPos() throws HardwareException {
Pos2d pos = canBus.hbotReadPos(MId.HbotM);
return pos.toString();

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