update

src/main/java/a8k/appbean/cfg/BottleGroupsPosInfo.java

@@ -62,12 +62,13 @@ public class BottleGroupsPosInfo {
 		return HbotScanerPosComputer.getScanPos(new Pos2d(topLelf.x + scanCodeRelaPos.x, topLelf.y + scanCodeRelaPos.y));
 	}
 
-	Pos2d cgetSamllBottlePos(Integer group, Integer bottleIndex) {
+
+	public Pos2d cgetSmallBottleBufferPos(Integer group, Integer bottleIndex) {
 		Pos2d topLelf = cgetTopLelf(group);
 		return smallBottleBufferPos.cgetBotPos(topLelf, bottleIndex);
 	}
 
-	Pos2d cgetDetectMaterialPos(Integer group, Integer bottleIndex) {
+	public Pos2d cgetDetectMaterialPos(Integer group, Integer bottleIndex) {
 		Pos2d topLelf = cgetTopLelf(group);
 		return detectMaterialPos.cgetBotPos(topLelf, bottleIndex);
 	}

src/main/java/a8k/appbean/cfg/Pos3d.java

@@ -17,4 +17,8 @@ public class Pos3d {
 	public Pos2d getXYPos() {
 		return new Pos2d(x, y);
 	}
+
+	public String toString() {
+		return String.format("(%d, %d, %d)", x, y, z);
+	}
 }

src/main/java/a8k/service/hardware/HbotControlService.java

@@ -107,15 +107,15 @@ public class HbotControlService implements HardwareCtrlModule {
 						new Pos2d(741, 937),
 						1230,
 						1250,
-						new Pos2d(577, 1097),
+						new Pos2d(579, 1097),
 						new BottlesPosInfo/*大孔*/(
-								new Pos2d(175, 175),
+								new Pos2d(160, 160),
 								210,
 								210,
 								0
 						),
 						new BottlesPosInfo/*小孔*/(
-								new Pos2d(220, 220),
+								new Pos2d(215, 205),
 								187,
 								187,
 								0
@@ -177,13 +177,17 @@ public class HbotControlService implements HardwareCtrlModule {
 	 * @throws InterruptedException e
 	 */
 	private void hbotCheckAndMoveTo(Pos3d targetPos) throws HardwareException, InterruptedException {
+		logger.info("hbotCheckAndMoveTo:{}", targetPos);
 		if (!canBus.getIOState(IOId.PlateBoxCoverClosurePPS)) {
 			throw new HardwareException(A8kEcode.PlateBoxNotCover);
 		}
 
 		//Z轴归零
+		if (!getZPPS()) {
 			canBus.stepMotorEnable(MId.PipetteModZM, 1);
 			canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
+		}
+
 
 		if (!getZPPS()) {
 			throw new HardwareException(A8kEcode.ZMNotAtZPosWhenHbotTryMove);
@@ -203,9 +207,12 @@ public class HbotControlService implements HardwareCtrlModule {
 		canBus.hbotMoveToBlock(MId.HbotM, targetPos.x, targetPos.y, getActionOvertime());
 
 		//Z轴移动
-		if (targetPos.z != 0)
+		if (targetPos.z != 0) {
+			canBus.stepMotorEnable(MId.PipetteModZM, 1);
+			canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PipetteModZM, getActionOvertime());
 			zMoveTo(targetPos.z);
 		}
+	}
 
 
 	private void zMoveTo(Integer z) throws HardwareException, InterruptedException {
@@ -313,6 +320,20 @@ public class HbotControlService implements HardwareCtrlModule {
 		hbotCheckAndMoveTo(new Pos2d(x, y));
 	}
 
+	@HardwareServiceAction(name = "HBot移动到小瓶缓冲液X孔", group = "单步测试")
+	public void hbotMoveToSmallBottleGroup(ConsumableGroup group, Integer Xhole) throws HardwareException, InterruptedException {
+		BottleGroupsPosInfo posInfo = getBottleBufferPosInfo();
+		Pos2d               pos     = posInfo.cgetSmallBottleBufferPos(group.off, Xhole);
+		hbotCheckAndMoveTo(pos);
+	}
+
+	@HardwareServiceAction(name = "HBot移动到探测物质X孔", group = "单步测试")
+	public void hbotMoveToDetectMaterialPos(ConsumableGroup group, Integer Xhole) throws HardwareException, InterruptedException {
+		BottleGroupsPosInfo posInfo = getBottleBufferPosInfo();
+		Pos2d               pos     = posInfo.cgetDetectMaterialPos(group.off, Xhole);
+		hbotCheckAndMoveTo(pos);
+	}
+
 
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	//	坐标获取工具
@@ -352,6 +373,14 @@ public class HbotControlService implements HardwareCtrlModule {
 		}
 	}
 
+	Pos2d hbotRefPos = new Pos2d(0, 0);
+
+	@HardwareServiceAction(name = "设置HBOT参考坐标", group = "坐标获取工具")
+	public void openCodeScaner(Integer x, Integer y) throws HardwareException, InterruptedException {
+		hbotRefPos.x = x;
+		hbotRefPos.y = y;
+	}
+
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	//	hbot移动到并扫码
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
@@ -489,5 +518,12 @@ public class HbotControlService implements HardwareCtrlModule {
 		return pos.toString();
 	}
 
+	@HardwareServiceStatus(name = "HbotRelaPos")
+	public String getHbotRelaPos() throws HardwareException {
+		Pos2d pos = canBus.hbotReadPos(MId.HbotM);
+		pos.x -= hbotRefPos.x;
+		pos.y -= hbotRefPos.y;
 
+		return pos.toString();
+	}
 }