From 6a4ab0ddaf1b55c8c852dc2d2749d8d9fada1ba2 Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Tue, 23 Jul 2024 09:58:22 +0800
Subject: [PATCH] 1

---
 .../SamplesPreProcessModuleCtrlParamsService.java  |  8 ++++++
 .../SamplesPreProcessModuleCtrlService.java        | 31 +++++++++++++++-------
 2 files changed, 30 insertions(+), 9 deletions(-)

diff --git a/src/main/java/a8k/service/db/dao/SamplesPreProcessModuleCtrlParamsService.java b/src/main/java/a8k/service/db/dao/SamplesPreProcessModuleCtrlParamsService.java
index 141edc7..5be44bb 100644
--- a/src/main/java/a8k/service/db/dao/SamplesPreProcessModuleCtrlParamsService.java
+++ b/src/main/java/a8k/service/db/dao/SamplesPreProcessModuleCtrlParamsService.java
@@ -35,6 +35,14 @@ public class SamplesPreProcessModuleCtrlParamsService {
 	 * 升降电机相关位置
 	 */
 
+	public int getZMotor_HighBloodTakeTubeHeight() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_HighBloodTakeTubeHeight", 0);
+	}
+
+	public int getZMotor_ShortBloodTakeTubeHeight() {
+		return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_ShortBloodTakeTubeHeight", 0);
+	}
+
 	// 高全血试管取帽位置
 	public int getZMotor_HighBloodTakeCapHeight() {
 		return HardwareServiceSetting.getInteger(this.serviceName, "ZMotor_HighBloodTakeCapHeight", 0);
diff --git a/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java b/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
index e869c26..d50f5c7 100644
--- a/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
+++ b/src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
@@ -103,7 +103,7 @@ public class SamplesPreProcessModuleCtrlService {
 			CmdId.mini_servo_enable.toInt(),
 			enable ? 1 : 0
 		);
-
+		this.a8kCanBusService.stepMotorEnable(MId.ShakeModGripperZM, enable ? 1 : 0);
 	}
 
 
@@ -129,10 +129,17 @@ public class SamplesPreProcessModuleCtrlService {
 			params.getActionOvertime()
 		);
 
-		var motorUdTubeTaskPos = params.getZMotor_ShortBloodTakeCapHeight();
+		this.a8kCanBusService.callblockcmd(
+			MId.ShakeModClampingM.toInt(),
+			CmdId.step_motor_easy_move_to.toInt(),
+			params.getTubeClampMotor_standbyPos(),
+			params.getActionOvertime()
+		);
+
+		var motorUdTubeTaskPos = params.getZMotor_ShortBloodTakeTubeHeight();
 		var tubeTypeValue =  A8kTubeType.valueOf(tubeType);
 		if ( tubeTypeValue.equals(A8kTubeType.HighBlood) ) {
-			motorUdTubeTaskPos = params.getZMotor_HighBloodTakeCapHeight();
+			motorUdTubeTaskPos = params.getZMotor_HighBloodTakeTubeHeight();
 		}
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperZM.toInt(),
@@ -236,14 +243,14 @@ public class SamplesPreProcessModuleCtrlService {
 		var params = this.samplesPreProcessModuleCtrlParamsService;
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperYSV.toInt(),
-			CmdId.step_motor_easy_move_to.toInt(),
+			CmdId.mini_servo_move_to.toInt(),
 			params.getHorizontalMotor_takePushCapPos(),
 			params.getActionOvertime()
 		);
 
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperSV.toInt(),
-			CmdId.step_motor_easy_move_to.toInt(),
+			CmdId.mini_servo_move_to.toInt(),
 			params.getGripperServo_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -262,8 +269,8 @@ public class SamplesPreProcessModuleCtrlService {
 
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperSV.toInt(),
-			CmdId.step_motor_easy_move_to.toInt(),
-			params.getGripperServo_standbyPos(),
+			CmdId.mini_servo_move_to.toInt(),
+			params.getGripperServo_takeTubePos(),
 			params.getActionOvertime()
 		);
 
@@ -276,7 +283,7 @@ public class SamplesPreProcessModuleCtrlService {
 
 		this.a8kCanBusService.callblockcmd(
 			MId.ShakeModGripperYSV.toInt(),
-			CmdId.step_motor_easy_move_to.toInt(),
+			CmdId.mini_servo_move_to.toInt(),
 			params.getHorizontalMotor_standbyPos(),
 			params.getActionOvertime()
 		);
@@ -347,7 +354,7 @@ public class SamplesPreProcessModuleCtrlService {
 	 * @param times 摇匀次数
 	 * @param shakeDegree 摇匀角度
 	 */
-	public void ShakeTube(String tubeType, int times, int shakeDegree) throws HardwareException, InterruptedException {
+	public void ShakeTube(String tubeType, Integer times, Integer shakeDegree) throws HardwareException, InterruptedException {
 		var params = this.samplesPreProcessModuleCtrlParamsService;
 		var standByPos = params.getShakeMotor_standbyPos();
 		var startPos = standByPos - shakeDegree/2;
@@ -470,4 +477,10 @@ public class SamplesPreProcessModuleCtrlService {
 		this.a8kCanBusService.stepMotorEasyMoveTo(MId.ShakeModShakeM, params.getShakeMotor_standbyPos());
 		this.a8kCanBusService.waitForMod(MId.ShakeModShakeM, params.getActionOvertime());
 	}
+
+	public void openTubeClip() throws HardwareException, InterruptedException {
+		var params = this.samplesPreProcessModuleCtrlParamsService;
+		this.a8kCanBusService.stepMotorEasyMoveBy(MId.ShakeModClampingM, 10);
+		this.a8kCanBusService.waitForMod(MId.ShakeModClampingM, params.getActionOvertime());
+	}
 }