update

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

@@ -23,11 +23,10 @@ public enum ExtApiTabConfig {
 	TubePreProcesPosCalibration("校准.试管预处理校准", true),
 	Hbot2DCodeScanPosCalibration("校准.耗材扫描校准", true),
 	HbotTipPosCalibration("校准.Tip耗材位置校准", true),
-	HbotLittleBottleConsumableCalibration("校准.小瓶耗材位置校准", true),
-	HbotLargeBottleBSPosCalibration("校准.大瓶BS耗材位置校准", true),
-	HbotSamplePosCalibration("校准.样本位置校准", true),
 	HbotLittleBSPosCalibration("校准.小瓶BS耗材位置校准", true),
 	HbotProbeSubstancePosCalibration("校准.探测物质位置校准", true),
+	HbotLargeBottleBSPosCalibration("校准.大瓶BS耗材位置校准", true),
+	HbotSamplePosCalibration("校准.样本位置校准", true),
 	PipetteGunLLDParamCalibration("校准.移液枪LLD参数校准", true),
 	PipetteGunLLFParamCalibration("校准.移液枪LLF参数校准", true),
 	OptModuleParamCalibration("校准.光学模块参数校准", true),

src/main/java/a8k/hardware/type/a8kcanprotocol/A8kPacket.java

@@ -33,7 +33,7 @@ public class A8kPacket {
 	public static final int PACKET_TYPE_ERROR_ACK = 2;
 	public static final int PACKET_TYPE_EVENT = 3;
 
-	public static final int CMD_OVERTIME = 2000;
+	public static final int CMD_OVERTIME = 500;
 
 	public A8kPacket(byte[] cmd) {
 		raw = new byte[cmd.length];

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotLittleBSPosCalibration.java

@@ -87,7 +87,7 @@ public class HbotLittleBSPosCalibration {
 
 
 	@ExtApiFn(name = "开始标定", group = "标定小瓶XY坐标", order = 30)
-	public void startCalibrateLittleBottleGroup(LittleBottleConsumableType type) throws AppException {
+	public void startCalibrateLittleBottleGroup() throws AppException {
 		refPoint = new java.util.ArrayList<>();
 		moveToZero();
 		disableModule();
@@ -133,21 +133,23 @@ public class HbotLittleBSPosCalibration {
 	//	标定Z轴
 	//
 
-	public void setZPos(HbotLittleBSPos posName) throws AppException {
+	public void setZPos(HbotLittleBSPos posName, Integer offset) throws AppException {
 		enableModule();
 		pipetteCtrlDriver.zMotorMeasureDistance();
-		hbotLittleBSPosMgr.setParam(posName, pipetteCtrlDriver.zMotorReadMeasureDistanceResult());
+		hbotLittleBSPosMgr.setParam(posName, pipetteCtrlDriver.zMotorReadMeasureDistanceResult() + offset);
 		disableModule();
 	}
 
 	@ExtApiFn(name = "校准.小瓶穿孔Z轴位置", group = "标定Z轴", order = 101)
-	public void setPierceZPos() throws AppException {setZPos(HbotLittleBSPos.LittleBSPierceZPos);}
+	public void setPierceZPos() throws AppException {setZPos(HbotLittleBSPos.LittleBSPierceZPos, 0);}
 
 	@ExtApiFn(name = "校准.小瓶取样Z轴位置", group = "标定Z轴", order = 102)
-	public void setSampleZPos() throws AppException {setZPos(HbotLittleBSPos.LittleBSSampleZPos);}
+	public void setSampleZPos() throws AppException {setZPos(HbotLittleBSPos.LittleBSSampleZPos, 0);}
 
 	@ExtApiFn(name = "校准.小瓶缓冲液取样结束Z轴位置", group = "标定Z轴", order = 104)
-	public void setSampleEndZPos() throws AppException {setZPos(HbotLittleBSPos.LittleBSSampleEndZPos);}
+	public void setSampleEndZPos() throws AppException {
+		//结束位置比设定位置高1mm的余量
+		setZPos(HbotLittleBSPos.LittleBSSampleEndZPos, -20);}
 
 	//
 	//	校验
@@ -156,6 +158,8 @@ public class HbotLittleBSPosCalibration {
 	public void testMoveToLittleBufferPos(ConsumableGroup group) throws AppException {
 		resetStopFlag();
 		enableModule();
+				pipetteCtrlDriver.zMotorMoveZeroBlock();
+
 		for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
 			hbotCtrlService.moveToLittleBufferPiercePos(group, i);
 			pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
@@ -163,6 +167,7 @@ public class HbotLittleBSPosCalibration {
 				return;
 		}
 	}
+
 	@ExtApiFn(name = "停止校验", group = "校验", order = 304)
 	public void stopTest() throws AppException {
 		setStopFlag();

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotProbeSubstancePosCalibration.java

@@ -90,7 +90,7 @@ public class HbotProbeSubstancePosCalibration {
 
 
 	@ExtApiFn(name = "开始标定", group = "标定小瓶XY坐标", order = 30)
-	public void startCalibrateLittleBottleGroup(LittleBottleConsumableType type) throws AppException {
+	public void startCalibrateLittleBottleGroup() throws AppException {
 		refPoint = new java.util.ArrayList<>();
 		moveToZero();
 		disableModule();
@@ -136,18 +136,18 @@ public class HbotProbeSubstancePosCalibration {
 	//	标定Z轴
 	//
 
-	public void setZPos(HbotProbeSubstancePos posName) throws AppException {
+	public void setZPos(HbotProbeSubstancePos posName, Integer offset) throws AppException {
 		enableModule();
 		pipetteCtrlDriver.zMotorMeasureDistance();
-		posMgr.setParam(posName, pipetteCtrlDriver.zMotorReadMeasureDistanceResult());
+		posMgr.setParam(posName, pipetteCtrlDriver.zMotorReadMeasureDistanceResult() + offset);
 		disableModule();
 	}
 
 	@ExtApiFn(name = "校准.小瓶取样Z轴位置", group = "标定Z轴", order = 102)
-	public void setSampleZPos() throws AppException {setZPos(HbotProbeSubstancePos.ProbeSubstanceSampleZPos);}
+	public void setSampleZPos() throws AppException {setZPos(HbotProbeSubstancePos.ProbeSubstanceSampleZPos, 0);}
 
 	@ExtApiFn(name = "校准.小瓶缓冲液取样结束Z轴位置", group = "标定Z轴", order = 104)
-	public void setSampleEndZPos() throws AppException {setZPos(HbotProbeSubstancePos.ProbeSubstanceSampleEndZPos);}
+	public void setSampleEndZPos() throws AppException {setZPos(HbotProbeSubstancePos.ProbeSubstanceSampleEndZPos, 20/*2mm*/);}
 
 	//
 	//	校验
@@ -156,6 +156,7 @@ public class HbotProbeSubstancePosCalibration {
 	public void testMoveToLittleBufferPos(ConsumableGroup group) throws AppException {
 		resetStopFlag();
 		enableModule();
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
 		for (int i = 0; i < AppConstant.CONSUMABLE_NUM; i++) {
 			hbotCtrlService.moveToProbeSubstanceSamplePos(group, i);
 			pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();

src/main/java/a8k/service/app/devicectrl/param/calibration/HbotTipPosCalibration.java

@@ -107,12 +107,10 @@ public class HbotTipPosCalibration {
 	Double            tipdx;
 	Double            tipdy;
 
-	@ExtApiFn(name = "开始标定Tip坐标", group = "辅助标定", order = 20)
+	@ExtApiFn(name = "清空参考点", group = "辅助标定", order = 20)
 	public void startCalibrateTipPos() throws AppException {
 		Assert.isTrue(tipGroup != null, "请先设置上下文");
 		tipRefPosList = new java.util.ArrayList<>();
-		moveToZero();
-		disableModule();
 		tipdx  = 0.0;
 		tipdy  = 0.0;
 		tip000 = new Pos3d(0, 0, 0);