update

src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java

@@ -33,7 +33,7 @@ public enum ExtApiTabConfig {
 	ReactionPlatesTransmitCtrl("ReactionPlatesTransmitCtrl", false),
 	HbotControlService("HbotControlService", false),
 	TubePreProcesControler("硬件控制.样本预处理模块", false),
-	TubeScanerControler("硬件控制.样本搬运与扫描", false),
+	TubeTubeFeedingModule("硬件控制.入料模块", false),
 	ConsumablesScanCtrlService("硬件控制.耗材扫描", false),
 
 

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java

@@ -6,7 +6,7 @@ import a8k.service.app.appstate.GStateService;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.state.A8kWorkState;
-import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeTubeFeedingModule;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
@@ -29,7 +29,7 @@ public class DO_START extends A8kStepAction {
 	GStateService gstate;
 
 	@Resource
-	TubeScanerControler tubeScanerControler;
+	TubeTubeFeedingModule tubeTubeFeedingModule;
 
 	@Resource
 	AppDebugHelperService appDebugHelper;
@@ -47,7 +47,7 @@ public class DO_START extends A8kStepAction {
 		if (appDebugHelper.isDebug()) {
 			appDebugHelper.doVirtualThings("弹出试管架", 2);
 		} else {
-			tubeScanerControler.ejectTubeHolder();
+			tubeTubeFeedingModule.ejectTubeHolder();
 		}
 	}
 

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java

@@ -15,7 +15,7 @@ import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.TubeHolder;
 import a8k.service.app.appstate.type.state.TubeHolderState;
 import a8k.service.app.appstate.type.state.TubeState;
-import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeTubeFeedingModule;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.TubeHolderScanResult;
 import a8k.type.exception.AppException;
@@ -47,11 +47,11 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 
 
 	@Resource
-	CondtionMgrService  cmgr;
+	CondtionMgrService    cmgr;
 	@Resource
-	TubeScanerControler stc;
+	TubeTubeFeedingModule stc;
 	@Resource
-	AppEventBusService  ebus;
+	AppEventBusService    ebus;
 	@Resource
 	AppTubeSettingMgrService             appTubeSettingMgrService;
 	@Resource

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ2_SWITCH_TO_THE_NEXT_TUBE.java

@@ -9,7 +9,7 @@ import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.TubeHolder;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.appstate.type.state.TubeState;
-import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeTubeFeedingModule;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
@@ -39,11 +39,11 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 	}
 
 	@Resource
-	GStateService       gstate;
+	GStateService         gstate;
 	@Resource
-	TubeScanerControler sstc;
+	TubeTubeFeedingModule sstc;
 	@Resource
-	CondtionMgrService  cms;
+	CondtionMgrService    cms;
 	@Resource
 	ProjectProcessContextMgrService      projectProcessContextMgrService;
 

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java

@@ -13,7 +13,7 @@ import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
 import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
-import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeTubeFeedingModule;
 import a8k.service.app.devicedriver.ctrl.TubePreProcesControler;
 import a8k.type.ecode.AppError;
 import a8k.type.exception.AppException;
@@ -46,7 +46,7 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	GStateService gstate;
 
 	@Resource
-	TubeScanerControler   sstc;
+	TubeTubeFeedingModule sstc;
 	@Resource
 	ConsumablesMgrService consumablesMgrService;
 	@Resource

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java

@@ -7,7 +7,7 @@ import a8k.service.app.appstate.GStateService;
 import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.state.TubeHolderState;
-import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeTubeFeedingModule;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
@@ -34,7 +34,7 @@ public class SEQ7_EJECT_TUBEHOLDER extends A8kStepAction {
 	AppDebugHelperService appDebugHelper;
 
 	@Resource
-	TubeScanerControler SST_HControler;
+	TubeTubeFeedingModule SST_HControler;
 
 	MainFlowCtrlState state;
 

src/main/java/a8k/service/app/devicedriver/basectrl/TubeTransportControler.java

@@ -6,7 +6,7 @@ import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.hardware.type.a8kcanprotocol.MId;
 import a8k.service.app.devicedriver.basectrl.type.MiniServoMId;
 import a8k.service.app.devicedriver.basectrl.type.StepMotorMId;
-import a8k.service.app.devicedriver.pos.TubeScanPosMgr;
+import a8k.service.app.devicedriver.pos.TubeFeedingModulePosMgr;
 import a8k.type.TargetPosMeasureDirection;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
@@ -25,7 +25,7 @@ public class TubeTransportControler {
 	MiniServoControler miniServoControler;
 
 	@Resource
-	TubeScanPosMgr tubeScanPosMgr;
+	TubeFeedingModulePosMgr tubeScanPosMgr;
 
 	@Resource
 	StepMotorControler stepMotorControler;

src/main/java/a8k/service/app/devicedriver/calibration/TubePreProcesPosCalibration.java

@@ -9,31 +9,42 @@ import a8k.service.app.devicedriver.basectrl.MiniServoControler;
 import a8k.service.app.devicedriver.basectrl.StepMotorControler;
 import a8k.service.app.devicedriver.basectrl.type.MiniServoMId;
 import a8k.service.app.devicedriver.basectrl.type.StepMotorMId;
+import a8k.service.app.devicedriver.ctrl.TubePreProcesControler;
 import a8k.service.app.devicedriver.pos.TubePreProcesPosMgr;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
-@ExtApiTab(cfg = ExtApiTabConfig.TubeScanPosCalibration)
+@ExtApiTab(cfg = ExtApiTabConfig.TubePreProcesPosCalibration)
 @Component
 public class TubePreProcesPosCalibration {
 
+	final static Integer overtime = 6000;
+
 	@Resource
 	TubePreProcesPosMgr tubePreProcesPosMgr;
 
 	@Resource
-	A8kCanBusService   canBus;
+	A8kCanBusService       canBus;
+	@Resource
+	MiniServoControler     miniServoControler;
 	@Resource
-	MiniServoControler miniServoControler;
+	StepMotorControler     stepMotorControler;
 	@Resource
-	StepMotorControler stepMotorControler;
+	TubePreProcesControler tubePreProcesControler;
 
 	//基础工具
 	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
 	public void deviceReset() throws AppException {
 		enableModule();
 		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000);
-
+		miniServoControler.miniServoMoveToBlock(MiniServoMId.ShakeModTubeScanerClampingSV, 20, overtime);
+		miniServoControler.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, 300, overtime);
+		miniServoControler.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, 300, overtime);
+		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, overtime);
+		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
+		stepMotorControler.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, overtime);
+		stepMotorControler.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, overtime);
 	}
 
 	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
@@ -43,18 +54,70 @@ public class TubePreProcesPosCalibration {
 		stepMotorControler.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
 		stepMotorControler.stepMotorEnable(StepMotorMId.ShakeModGripperZM, 1);
 		stepMotorControler.stepMotorEnable(StepMotorMId.ShakeModShakeM, 1);
+		stepMotorControler.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
 	}
 
 	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
 	public void disableModule() throws AppException {
-		stepMotorControler.stepMotorEnable(StepMotorMId.FeedingModInfeedM, 0);
-		stepMotorControler.stepMotorEnable(StepMotorMId.FeedingModOutfeedM, 0);
+		miniServoControler.miniServoEnable(MiniServoMId.ShakeModGripperSV, 0);
+		miniServoControler.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 0);
+		stepMotorControler.stepMotorEnable(StepMotorMId.ShakeModClampingM, 0);
+		stepMotorControler.stepMotorEnable(StepMotorMId.ShakeModGripperZM, 0);
+		stepMotorControler.stepMotorEnable(StepMotorMId.ShakeModShakeM, 0);
 		stepMotorControler.stepMotorEnable(StepMotorMId.FeedingModXM, 0);
-		miniServoControler.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 0);
 	}
+	@ExtApiFn(name = "读取夹爪当前位置", group = "测试工具", order = 13)
+	public Integer readGripperPos() throws AppException {
+		return miniServoControler.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
+	}
+	//标定和校准
 
+	//夹爪        : 设置参考点,标定,验证
+	//YSV        : 设置参考点,标定,验证
+	//ZM         : 标定,验证
+	//XProcessPos: 标定,验证
+	//ShakeClamp : 标定,校验
 
-	//标定和校准
+	@ExtApiFn(name = "设置当前位置为<参考点>", group = "夹爪", order = 21)
+	public Integer gripperSVSetCurrentPosAsRef() throws AppException {
+		miniServoControler.miniServoSetCurPos(MiniServoMId.ShakeModGripperSV, 100);
+		return 100;
+	}
+
+	@ExtApiFn(name = "<标定>当前点为<抓手张开位置>", group = "夹爪", order = 22)
+	public Integer gripperSVSetCurrentPosAsOpenPos() throws AppException {
+		Integer pos = miniServoControler.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
+		tubePreProcesPosMgr.setGripperServoOpenPos(pos);
+		return pos;
+	}
 
+	@ExtApiFn(name = "<标定>当前点为<抓手闭合位置>", group = "夹爪", order = 23)
+	public Integer gripperSVSetCurrentPosAsClosePos() throws AppException {
+		Integer pos = miniServoControler.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
+		tubePreProcesPosMgr.setGripperServoClosePos(pos);
+		return pos;
+	}
+
+	@ExtApiFn(name = "<标定>当前点为<抓手取试管位置>", group = "夹爪", order = 24)
+	public Integer gripperSVSetCurrentPosAsTakeCapPos() throws AppException {
+		Integer pos = miniServoControler.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
+		tubePreProcesPosMgr.setGripperServoTakeCapPos(pos);
+		return pos;
+	}
+
+	@ExtApiFn(name = "<校验>张开", group = "夹爪", order = 26)
+	public void gripperSVOpen() throws AppException {
+		tubePreProcesControler.gripperSVOpen();
+	}
+
+	@ExtApiFn(name = "<校验>夹紧", group = "夹爪", order = 25)
+	public void gripperSVCClose() throws AppException {
+		tubePreProcesControler.gripperSVCClose();
+	}
+
+	@ExtApiFn(name = "<校验>夹住试管", group = "夹爪", order = 25)
+	public void gripperSVClampTube() throws AppException {
+		tubePreProcesControler.gripperSVClampTube();
+	}
 
 }

src/main/java/a8k/service/app/devicedriver/calibration/TubeScanPosCalibration.java

@@ -4,14 +4,13 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.hardware.A8kCanBusService;
-import a8k.hardware.type.a8kcanprotocol.MId;
 import a8k.service.app.devicedriver.basectrl.MiniServoControler;
 import a8k.service.app.devicedriver.basectrl.StepMotorControler;
 import a8k.service.app.devicedriver.basectrl.TubeTransportControler;
 import a8k.service.app.devicedriver.basectrl.type.MiniServoMId;
 import a8k.service.app.devicedriver.basectrl.type.StepMotorMId;
-import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
-import a8k.service.app.devicedriver.pos.TubeScanPosMgr;
+import a8k.service.app.devicedriver.ctrl.TubeTubeFeedingModule;
+import a8k.service.app.devicedriver.pos.TubeFeedingModulePosMgr;
 import a8k.type.TubeHolderScanResult;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
@@ -23,12 +22,12 @@ import org.springframework.stereotype.Component;
 public class TubeScanPosCalibration {
 
 	@Resource
-	TubeScanPosMgr tubeScanPosMgr;
+	TubeFeedingModulePosMgr tubeScanPosMgr;
 
 	@Resource
 	A8kCanBusService       canBus;
 	@Resource
-	TubeScanerControler    tubeScanerControler;
+	TubeTubeFeedingModule  tubeTubeFeedingModule;
 	@Resource
 	TubeTransportControler tubeTransportControler;
 	@Resource
@@ -43,7 +42,7 @@ public class TubeScanPosCalibration {
 	}
 
 	@ExtApiFn(name = "获取所有坐标", group = "基础", order = 1)
-	public TubeScanPosMgr getPoss() throws AppException {
+	public TubeFeedingModulePosMgr getPoss() throws AppException {
 		return tubeScanPosMgr;
 	}
 
@@ -120,7 +119,7 @@ public class TubeScanPosCalibration {
 
 	@ExtApiFn(name = "扫描试管架", group = "校验", order = 33)
 	public TubeHolderScanResult scanAll() throws AppException {
-		return tubeScanerControler.scanTubeHodler();
+		return tubeTubeFeedingModule.scanTubeHodler();
 	}
 
 	@ExtApiFn(name = "设置<试管扫描伺服力矩(100-1000)>", group = "其他", order = 41)

src/main/java/a8k/service/app/devicedriver/ctrl/TubePreProcesControler.java

@@ -7,6 +7,7 @@ import a8k.service.app.devicedriver.basectrl.MiniServoControler;
 import a8k.service.app.devicedriver.basectrl.StepMotorControler;
 import a8k.service.app.devicedriver.basectrl.type.MiniServoMId;
 import a8k.service.app.devicedriver.basectrl.type.StepMotorMId;
+import a8k.service.app.devicedriver.pos.TubePreProcesPosMgr;
 import a8k.type.exception.AppException;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
@@ -24,7 +25,8 @@ import org.springframework.stereotype.Component;
 @Component
 @ExtApiTab(cfg = ExtApiTabConfig.TubePreProcesControler)
 public class TubePreProcesControler {
-	static Logger logger = LoggerFactory.getLogger(TubePreProcesControler.class);
+	static Logger  logger         = LoggerFactory.getLogger(TubePreProcesControler.class);
+	static Integer actionOvertime = 10000;
 
 	static class ORDER {
 
@@ -48,6 +50,9 @@ public class TubePreProcesControler {
 	DebugParam       dp;
 
 	@Resource
+	TubePreProcesPosMgr tubePreProcesPosMgr;
+
+	@Resource
 	MiniServoControler miniServoControler;
 	@Resource
 	StepMotorControler stepMotorControler;
@@ -272,12 +277,24 @@ public class TubePreProcesControler {
 		}
 	}
 
-//	/**
-//	 * 移动试管到试管预处理的位置
-//	 * @param tubeIndex 试管索引
-//	 */
-//	public void moveTubeToPreProcessPos(Integer tubeIndex) throws AppException {
-//		 moveTubeRackTo(stp.getTPreProcessXPos() + tubeIndex * tubeHolderParamMgr.getTubeSpacing(), TargetPosMeasureDirection.POSITIVE, false);
-//	}
+	//	/**
+	//	 * 移动试管到试管预处理的位置
+	//	 * @param tubeIndex 试管索引
+	//	 */
+	//	public void moveTubeToPreProcessPos(Integer tubeIndex) throws AppException {
+	//		 moveTubeRackTo(stp.getTPreProcessXPos() + tubeIndex * tubeHolderParamMgr.getTubeSpacing(), TargetPosMeasureDirection.POSITIVE, false);
+	//	}
+
+	//	677
+	public void gripperSVOpen() throws AppException {
+		miniServoControler.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosMgr.getGripperServoOpenPos(), actionOvertime);
+	}
+
+	public void gripperSVCClose() throws AppException {
+		miniServoControler.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosMgr.getGripperServoClosePos(), actionOvertime);
+	}
 
+	public void gripperSVClampTube() throws AppException {
+		miniServoControler.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosMgr.getGripperServoClosePos(), actionOvertime);
+	}
 }

src/main/java/a8k/service/app/devicedriver/ctrl/TubeScanerControler.java → src/main/java/a8k/service/app/devicedriver/ctrl/TubeTubeFeedingModule.java

@@ -10,7 +10,7 @@ import a8k.service.app.devicedriver.basectrl.StepMotorControler;
 import a8k.service.app.devicedriver.basectrl.TubeTransportControler;
 import a8k.service.app.devicedriver.basectrl.type.MiniServoMId;
 import a8k.service.app.devicedriver.basectrl.type.StepMotorMId;
-import a8k.service.app.devicedriver.pos.TubeScanPosMgr;
+import a8k.service.app.devicedriver.pos.TubeFeedingModulePosMgr;
 import a8k.service.app.devicedriver.pos.TubeHolderParamMgr;
 import a8k.service.bases.AppEventBusService;
 import a8k.service.bases.appevent.AppWarningNotifyEvent;
@@ -28,9 +28,9 @@ import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 @Component
-@ExtApiTab(cfg = ExtApiTabConfig.TubeScanerControler)
-public class TubeScanerControler {
-	static Logger  logger          = LoggerFactory.getLogger(TubeScanerControler.class);
+@ExtApiTab(cfg = ExtApiTabConfig.TubeTubeFeedingModule)
+public class TubeTubeFeedingModule {
+	static Logger  logger          = LoggerFactory.getLogger(TubeTubeFeedingModule.class);
 	static Integer infeedOvertime  = 10000;
 	static Integer outfeedOvertime = 10000;
 	static Integer scanOvertime    = 3000;
@@ -47,11 +47,11 @@ public class TubeScanerControler {
 	@Resource
 	AppEventBusService     ebus;
 	@Resource
-	A8kCanBusService   canBus;
+	A8kCanBusService        canBus;
 	@Resource
-	TubeScanPosMgr     stp;
+	TubeFeedingModulePosMgr stp;
 	@Resource
-	TubeHolderParamMgr tubeHolderParamMgr;
+	TubeHolderParamMgr      tubeHolderParamMgr;
 	@Resource
 	CodeScaner             codeScaner;
 	@Resource
@@ -104,12 +104,9 @@ public class TubeScanerControler {
 	public Boolean getTHchInterPPS() throws AppException {
 		return canBus.getIOState(IOId.THChInterPPS);
 	}
-
-
 	/*=========================================================================================
 	 * 											片段
 	 *========================================================================================*/
-
 	/**
 	 * 移动试管架到入口位置
 	 */

src/main/java/a8k/service/app/devicedriver/pos/TubeScanPosMgr.java → src/main/java/a8k/service/app/devicedriver/pos/TubeFeedingModulePosMgr.java

@@ -10,11 +10,12 @@ import org.springframework.stereotype.Component;
 
 
 @Component
-public class TubeScanPosMgr {
-	static final Logger logger = LoggerFactory.getLogger(TubeScanPosMgr.class);
+//horizontal scroll
+public class TubeFeedingModulePosMgr {
+	static final Logger logger = LoggerFactory.getLogger(TubeFeedingModulePosMgr.class);
 
-	public  final Integer ScanerClampingSVReleasePos  = 100;
-	public  final Integer ScanerClampingSVClampingPos = 1000;
+	public final Integer ScanerClampingSVReleasePos  = 100;
+	public final Integer ScanerClampingSVClampingPos = 1000;
 
 	public enum POS {
 		TubeHolderEnterXPos, // 入料位置

src/main/java/a8k/service/app/devicedriver/pos/TubePreProcesPosMgr.java

@@ -10,7 +10,7 @@ import org.springframework.stereotype.Component;
 
 @Component
 public class TubePreProcesPosMgr {
-	static final Logger logger = LoggerFactory.getLogger(TubeScanPosMgr.class);
+	static final Logger logger = LoggerFactory.getLogger(TubeFeedingModulePosMgr.class);
 
 	public enum POS {
 		GripperServoOpenPos("抓手张开位置"),//
@@ -50,6 +50,10 @@ public class TubePreProcesPosMgr {
 		if (!nowParaVersion.equals(paraVersion)) {
 			logger.info("init param");
 			posReader.setVersion(nowParaVersion);
+
+			//	677,450,310,355
+			//  1800,
+
 			posReader.updatePos(POS.GripperServoOpenPos, 450);
 			posReader.updatePos(POS.GripperServoClosePos, 310);
 			posReader.updatePos(POS.GripperServoTakeCapPos, 355);

src/main/java/a8k/service/app/devicedriver/testscript/TestScript.java

@@ -8,7 +8,7 @@ import a8k.type.ConsumableGroup;
 import a8k.type.exception.AppException;
 import a8k.type.IncubatorPos;
 import a8k.service.app.devicedriver.ctrl.TubePreProcesControler;
-import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeTubeFeedingModule;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
@@ -61,7 +61,7 @@ public class TestScript {
 	TubePreProcesControler tubePreProcesControler;
 
 	@Resource
-	TubeScanerControler tubeScanerControler;
+	TubeTubeFeedingModule tubeTubeFeedingModule;
 
 	EnginnerParamReader settingReader = new EnginnerParamReader(HbotBaseMoveControler.class);