update

src/main/java/a8k/constant/AppConstant.java

@@ -6,4 +6,7 @@ public class AppConstant {
 	public static final int    CONSUMABLE_NUM = 25;
 	public static final int    TIP_NUM        = 120;
 	public static final String APP_VERSION    = "1.0.0";
+
+	public static final Integer ShakeModTubeScanerClampingSVReleasePos  = 10;
+	public static final Integer ShakeModTubeScanerClampingSVClampingPos = 900;
 }

src/main/java/a8k/hardware/A8kCanBusService.java

@@ -119,10 +119,10 @@ public class A8kCanBusService {
 	}
 
 
-	private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, Integer[] params) {
+	private A8kPacket packParamsToPacket(Integer moduleId, Integer cmdId, List<Integer> params) {
 		int subCmdId   = cmdId & 0xFF;
 		int mainCmdId  = (cmdId >> 8) & 0xFFFF;
-		int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.length; // PacketIndex - MainCmdId - SubCmdId - CmdType -
+		int bufferSize = 2 + 2 + 1 + 1 + 2 + 4 * params.size(); // PacketIndex - MainCmdId - SubCmdId - CmdType -
 		// ModuleId - Parameters
 		ByteBuffer buffer = ByteBuffer.allocate(bufferSize);
 		buffer.order(ByteOrder.LITTLE_ENDIAN);
@@ -325,7 +325,6 @@ public class A8kCanBusService {
 	}
 
 
-
 	//
 	// stepMotor
 	//
@@ -485,6 +484,11 @@ public class A8kCanBusService {
 		miniServoWaitIsNotMove(id, actionOvertime);
 	}
 
+	//	kmini_servo_set_cur_pos
+	public void miniServoSetCurPos(MId id, Integer pos) throws AppException {
+		callcmdOvertime(id.toInt(), CmdId.mini_servo_set_cur_pos.toInt(), 5000, pos);
+	}
+
 	public void miniServoWaitIsNotMove(MId id, int acitionOvertime) throws AppException {
 		long startedAt = System.currentTimeMillis();
 		do {
@@ -574,33 +578,14 @@ public class A8kCanBusService {
 		} while (true);
 	}
 
-	public A8kPacket callcmd(Integer moduleId, Integer cmdId) throws AppException {
-		return this.callcmd(moduleId, cmdId, new Integer[]{});
-	}
-
-	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0) throws AppException {
-		return this.callcmd(moduleId, cmdId, new Integer[]{p0});
-	}
-
-	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1) throws AppException {
-		return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1});
-	}
-
-	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2) throws AppException {
-		return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2});
-	}
-
-	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3) throws AppException {
-		return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3});
-	}
-
-	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer p0, Integer p1, Integer p2, Integer p3, Integer p4) throws AppException {
-		return this.callcmd(moduleId, cmdId, new Integer[]{p0, p1, p2, p3, p4});
+	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer... param) throws AppException {
+		var packet = packParamsToPacket(moduleId, cmdId, List.of(param));
+		return sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
 	}
 
-	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer[] params) throws AppException {
-		var packet = packParamsToPacket(moduleId, cmdId, params);
-		return sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);
+	public A8kPacket callcmdOvertime(Integer moduleId, Integer cmdId, Integer overtime, Integer... params) throws AppException {
+		var packet = packParamsToPacket(moduleId, cmdId, List.of(params));
+		return sendCmdAutoResend(packet, overtime);
 	}
 
 	synchronized public A8kPacket sendCmdAutoResend(A8kPacket pack, int overtime) throws AppException {
@@ -609,7 +594,7 @@ public class A8kCanBusService {
 		// 如果是其他异常，则直接抛出异常。
 		for (int i = 0; i < 5; i++) {
 			try {
-				return this.sendCmd(pack, A8kPacket.CMD_OVERTIME);
+				return this.sendCmd(pack, overtime);
 			} catch (AppException e) {
 				if (!e.error.code.equals(A8kEcode.LOW_ERROR_OVERTIME)) {
 					throw e;

src/main/java/a8k/hardware/type/regindex/RegIndex.java

@@ -188,6 +188,8 @@ public enum RegIndex {
 	kreg_mini_servo_limit_torque(10252), // 限制扭矩
 	kreg_mini_servo_protective_torque(10253), // 保护扭矩
 	kreg_mini_servo_is_move(10254), // 是否在运动
+	kreg_mini_servo_set_mid_point(26119), // 设置中间点
+	kmini_servo_set_cur_pos(26124), // 设置当前位置
 	/***********************************************************************************************************************
 	 * ID_CARD_READER *
 	 ***********************************************************************************************************************/

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

@@ -29,6 +29,9 @@ public class TubeTransportControler {
 	@Resource
 	A8kCanBusService canBus;
 
+	@Resource
+	TubeTransportPosMgr tubeTransportPosMgr;
+
 	/*=========================================================================================
 	 * 											基础方法
 	 *========================================================================================*/
@@ -70,14 +73,14 @@ public class TubeTransportControler {
 	@ExtApiFn(name = "扫描夹紧机构夹紧", group = "基础方法", order = 1)
 	public void scanClampModClamp() throws AppException {
 		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
-		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, 900);
+		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, tubeTransportPosMgr.ScanerClampingSVClampingPos);
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, overtime);
 	}
 
 	@ExtApiFn(name = "扫描夹紧机构复位", group = "基础方法", order = 2)
 	public void scanClampModRelease() throws AppException {
 		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
-		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, 10);
+		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, tubeTransportPosMgr.ScanerClampingSVReleasePos);
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, overtime);
 	}
 

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

@@ -5,6 +5,7 @@ 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.TubeTransportControler;
 import a8k.service.app.devicedriver.ctrl.TubeHolderScanerControler;
 import a8k.service.app.devicedriver.pos.TubeTransportPosMgr;
 import a8k.type.TubeHolderScanResult;
@@ -24,6 +25,8 @@ public class TubeTransportPosCalibration {
 	A8kCanBusService          canBus;
 	@Resource
 	TubeHolderScanerControler tubeHolderScanerControler;
+	@Resource
+	TubeTransportControler    tubeTransportControler;
 
 	private Integer readFeedingModXMPos() throws AppException {
 		canBus.stepMotorEnable(MId.FeedingModXM, 1);
@@ -49,6 +52,7 @@ public class TubeTransportPosCalibration {
 		canBus.stepMotorEnable(MId.FeedingModInfeedM, 1);
 		canBus.stepMotorEnable(MId.FeedingModOutfeedM, 1);
 		canBus.stepMotorEnable(MId.FeedingModXM, 1);
+		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
 	}
 
 	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
@@ -56,47 +60,60 @@ public class TubeTransportPosCalibration {
 		canBus.stepMotorEnable(MId.FeedingModInfeedM, 0);
 		canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0);
 		canBus.stepMotorEnable(MId.FeedingModXM, 0);
+		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 0);
 	}
 
 
-	@ExtApiFn(name = "设置当前位置为<入料位置>", group = "标定", order = 21)
+	@ExtApiFn(name = "<平移电机>设置当前位置为<入料位置>", group = "标定", order = 21)
 	public void setTubeHolderEnterXPos() throws AppException {
 		tubeTransportPosMgr.setTubeHolderEnterXPos(readFeedingModXMPos());
 	}
 
-	@ExtApiFn(name = "设置当前位置为<出料位置>", group = "标定", order = 22)
+	@ExtApiFn(name = "<平移电机>设置当前位置为<出料位置>", group = "标定", order = 22)
 	public void setTubeHolderExitXPos() throws AppException {
 		tubeTransportPosMgr.setTubeHolderExitXPos(readFeedingModXMPos());
 	}
 
-	@ExtApiFn(name = "设置当前位置为<试管架扫描位置>", group = "标定", order = 23)
+	@ExtApiFn(name = "<平移电机>设置当前位置为<试管架扫描位置>", group = "标定", order = 23)
 	public void setTubeHolderScanXPos() throws AppException {
 		tubeTransportPosMgr.setTubeHolderScanXPos(readFeedingModXMPos());
 	}
 
-	@ExtApiFn(name = "设置当前位置为<0号试管扫描位置>", group = "标定", order = 24)
+	@ExtApiFn(name = "<平移电机>设置当前位置为<0号试管扫描位置>", group = "标定", order = 24)
 	public void setTube0ScanXPos() throws AppException {
 		tubeTransportPosMgr.setTube0ScanXPos(readFeedingModXMPos());
 	}
 
-	@ExtApiFn(name = "设置当前位置为<0试管高度判断位置>", group = "标定", order = 25)
+	@ExtApiFn(name = "<平移电机>设置当前位置为<0试管高度判断位置>", group = "标定", order = 25)
 	public void setTube0AltitJudgXPos() throws AppException {
 		tubeTransportPosMgr.setTube0AltitJudgXPos(readFeedingModXMPos());
 	}
 
-	@ExtApiFn(name = "设置当前位置为<0试管存在判断位置>", group = "标定", order = 26)
+	@ExtApiFn(name = "<平移电机>设置当前位置为<0试管存在判断位置>", group = "标定", order = 26)
 	public void setTube0ExistJudgXPos() throws AppException {
 		tubeTransportPosMgr.setTube0ExistJudgXPos(readFeedingModXMPos());
 	}
 
+	@ExtApiFn(name = "<夹紧舵机>设置当前位置为夹紧位置", group = "标定", order = 26)
+	public void setTubeScanClampPos() throws AppException {
+		canBus.miniServoSetCurPos(MId.ShakeModTubeScanerClampingSV, tubeTransportPosMgr.ScanerClampingSVClampingPos);
+	}
+
+
+	@ExtApiFn(name = "夹紧试管架", group = "校验", order = 31)
+	public void scanClampModClamp() throws AppException {
+		 tubeTransportControler.scanClampModClamp();
+	}
 
-	@ExtApiFn(name = "扫描试管架", group = "校验", order = 31)
+	@ExtApiFn(name = "释放试管架", group = "校验", order = 32)
+	public void scanClampModRelease() throws AppException {
+		tubeTransportControler.scanClampModRelease();
+	}
+	@ExtApiFn(name = "扫描试管架", group = "校验", order = 33)
 	public TubeHolderScanResult scanAll() throws AppException {
 		return tubeHolderScanerControler.scanTubeHodler();
 	}
 
-
-
 	@ExtApiFn(name = "设置<试管扫描伺服力矩(100-1000)>", group = "其他", order = 41)
 	public void setTubeScanServoTorque(Integer torque) throws AppException {
 		tubeTransportPosMgr.setTubeScanServoTorque(torque);

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

@@ -13,11 +13,14 @@ import org.springframework.stereotype.Component;
 public class TubeTransportPosMgr {
 	static final Logger logger = LoggerFactory.getLogger(TubeTransportPosMgr.class);
 
+	public  final Integer ScanerClampingSVReleasePos  = 100;
+	public  final Integer ScanerClampingSVClampingPos = 1000;
+
 	public enum POS {
 		TubeHolderEnterXPos, // 入料位置
 		TubeHolderExitXPos,  // 出料位置
 		TubeHolderScanXPos,  // 试管架扫描位置
-		Tube0ScanXPos, 		 // 0号试管扫描位置
+		Tube0ScanXPos,         // 0号试管扫描位置
 		Tube0AltitJudgXPos, // 0试管高度判断位置
 		Tube0ExistJudgXPos, // 0试管存在判断位置
 		TubeScanServoTorque,// 试管扫描伺服力矩
@@ -111,7 +114,6 @@ public class TubeTransportPosMgr {
 	}
 
 
-
 	public void setTubeScanServoTorque(Integer value) {
 		posReader.updatePos(POS.TubeScanServoTorque, value);
 	}