diff --git a/src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java b/src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java index 6e60453..c8ba9f4 100644 --- a/src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java +++ b/src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java @@ -105,9 +105,9 @@ public class A8kSubModuleInitRegConfig { //WaterCoolingTemperatureCtrl - addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_target); - addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_nowoutput); - addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_feedbackval); +// addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_target); +// addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_nowoutput); +// addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_feedbackval); addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_kp); addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_ki); addRegMarker(ModuleType.WaterCoolingTempCtrl, RegIndex.kreg_water_cooling_tmp_controler_pid_kd); @@ -154,10 +154,10 @@ public class A8kSubModuleInitRegConfig { addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_io_trigger_append_distance); addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_mres); - addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_t_pos_offset); - addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_f_pos_offset); - addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_t_reverse_scan_pos_offset); - addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_f_reverse_scan_pos_offset); + // addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_t_pos_offset); + // addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_f_pos_offset); + // addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_t_reverse_scan_pos_offset); + // addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_f_reverse_scan_pos_offset); addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_scan_step_interval); addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_scan_pointnum); addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_scan_vdefault); diff --git a/src/main/java/a8k/app/hardware/driver/OptModuleDriver.java b/src/main/java/a8k/app/hardware/driver/OptModuleDriver.java index 6e38a42..07ed9f8 100644 --- a/src/main/java/a8k/app/hardware/driver/OptModuleDriver.java +++ b/src/main/java/a8k/app/hardware/driver/OptModuleDriver.java @@ -45,7 +45,7 @@ public class OptModuleDriver { var packet = A8kPacketFactory.buildCMDPacket(MId.OptMod.toInt(), CmdId.module_get_status.toInt(), ZList.of()); ModuleStatus statu = null; try { - statu = ModuleStatus.valueOf(canBus.send(packet, 1000).getContentI32(0)); + statu = ModuleStatus.valueOf(canBus.send(packet, 50).getContentI32(0)); } catch (Exception ignored) { } @@ -62,7 +62,7 @@ public class OptModuleDriver { if (System.currentTimeMillis() - startedAt > overtime) { throw AppException.of(new AEHardwareError(A8kEcode.LOW_ERROR_ACTION_OVERTIME, MId.OptMod, CmdId.a8k_opt_v2_t_start_scan)); } - OS.forceSleep(1000); + OS.forceSleep(100); } while (true); } @@ -72,16 +72,20 @@ public class OptModuleDriver { log.info("OptTStartScan scanDirection:{} lasterGain:{} scanGain:{}", scanDirection, lasterGain, scanGain); canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_t_start_scan, scanDirection.getInteger(), lasterGain, scanGain); //TODO: 2024-10-26 zhaohe,修改底层，光学结束上报一条完成事件 - OS.forceSleep(1000); + long startedAt = System.currentTimeMillis(); + OS.forceSleep(100); waittingForOptFinish(10 * 1000); + log.info("opt t scan use {}s", (System.currentTimeMillis() - startedAt) / 1000.0); } public void optFStartScan(OptScanDirection scanDirection, Integer lasterGain, Integer scanGain) throws AppException { log.info("OptFStartScan scanDirection:{} lasterGain:{} scanGain:{}", scanDirection, lasterGain, scanGain); canBus.callcmd(MId.OptMod, CmdId.a8k_opt_v2_f_start_scan, scanDirection.getInteger(), lasterGain, scanGain); //TODO: 2024-10-26 zhaohe,修改底层，光学结束上报一条完成事件 - OS.forceSleep(1000); + long startedAt = System.currentTimeMillis(); + OS.forceSleep(100); waittingForOptFinish(10 * 1000); + log.info("opt f scan use {}s", (System.currentTimeMillis() - startedAt) / 1000.0); } public Integer[] optReadRaw() throws AppException { diff --git a/src/main/java/a8k/app/hardware/driver/StepMotorCtrlDriver.java b/src/main/java/a8k/app/hardware/driver/StepMotorCtrlDriver.java index cbfbb77..15c69e9 100644 --- a/src/main/java/a8k/app/hardware/driver/StepMotorCtrlDriver.java +++ b/src/main/java/a8k/app/hardware/driver/StepMotorCtrlDriver.java @@ -35,6 +35,10 @@ public class StepMotorCtrlDriver { canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero); } + public void setCurrentPos(StepMotorMId id, Integer pos) throws AppException { + canBus.callcmd(id.mid, CmdId.step_motor_easy_set_current_pos, pos); + } + void stepMotorEasyMoveToZeroPointQuick(StepMotorMId id) throws AppException { canBus.callcmd(id.mid, CmdId.step_motor_easy_move_to_zero_point_quick); } diff --git a/src/main/java/a8k/app/service/lowerctrl/TurnableMoveCtrlService.java b/src/main/java/a8k/app/service/lowerctrl/TurnableMoveCtrlService.java index fb474ef..09fa24e 100644 --- a/src/main/java/a8k/app/service/lowerctrl/TurnableMoveCtrlService.java +++ b/src/main/java/a8k/app/service/lowerctrl/TurnableMoveCtrlService.java @@ -3,6 +3,7 @@ package a8k.app.service.lowerctrl; import a8k.app.hardware.driver.InputDetectDriver; import a8k.app.hardware.driver.StepMotorCtrlDriver; import a8k.app.hardware.type.StepMotorMId; +import a8k.app.hardware.type.StepMotorRegIndex; import a8k.app.service.param.pos.TurntablePosParamMgr; import a8k.app.type.a8k.pos.IncubatorPos; import a8k.app.type.exception.AppException; @@ -10,6 +11,7 @@ import a8k.app.hardware.channel.A8kCanBusService; import a8k.app.hardware.type.A8kEcode; import a8k.app.hardware.type.InputIOId; +import a8k.app.utils.MinRotationAngle; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; @@ -54,30 +56,70 @@ public class TurnableMoveCtrlService { } } + private int distanceInCircle(int pos0, int pos1, int cirucle) { + int distance = Math.abs((pos1 - pos0) % cirucle); + if (distance > cirucle / 2) { + distance = cirucle - distance; + } + return distance; + } + + private int findNearPos(Integer now, Integer target) { + int t1; + int t2; + target = target % 36000; + if (target < 0) { + t1 = target; + t2 = target + 36000; + } else { + t1 = target - 36000; + t2 = target; + } + + int d1 = Math.abs(now - t1); + int d2 = Math.abs(now - t2); + + if (d1 < d2) { + return t1; + } else { + return t2; + } + + + } + private void trunableMoveTo(Integer pos) throws AppException { checkBeforeMoveTrunable(); //限制pos在 0--> 36000之间 - pos = pos % 36000; - if (pos < 0) { - pos += 36000; - } + + int nowPos = stepMotorCtrlDriver.stepMotorReadPos(StepMotorMId.IncubatorRotateCtrlM); + int dTargetPos = MinRotationAngle.minRotationAngle(nowPos, pos, 36000); + int targetPos = dTargetPos + nowPos; + //先移动半个间距，用来检测是否发生卡板 - Integer nowPos = stepMotorCtrlDriver.stepMotorReadPos(StepMotorMId.IncubatorRotateCtrlM); - if (nowPos < pos) { + if (nowPos < targetPos) { stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.IncubatorRotateCtrlM, turntablePosParamMgr.getPosSpacing()); - } else if (nowPos > pos) { + } else if (nowPos > targetPos) { stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.IncubatorRotateCtrlM, -turntablePosParamMgr.getPosSpacing()); } //解决齿轮间隙的问题 - if (nowPos < pos) { - stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.IncubatorRotateCtrlM, pos); + if (nowPos < targetPos) { + stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.IncubatorRotateCtrlM, targetPos); } else { - stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.IncubatorRotateCtrlM, pos - 300/**/); - stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.IncubatorRotateCtrlM, pos); + stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.IncubatorRotateCtrlM, targetPos - 300/**/); + stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.IncubatorRotateCtrlM, targetPos); } + + + int afterRunNowPos = stepMotorCtrlDriver.stepMotorReadPos(StepMotorMId.IncubatorRotateCtrlM); + afterRunNowPos = afterRunNowPos % 36000; + if (afterRunNowPos < 0) + afterRunNowPos = afterRunNowPos + 36000; + stepMotorCtrlDriver.setCurrentPos(StepMotorMId.IncubatorRotateCtrlM, afterRunNowPos); + } public void trunableMoveToPushPos(IncubatorPos index) throws AppException { diff --git a/src/main/java/a8k/app/service/param/optparam/OptModuleExtParamsMgr.java b/src/main/java/a8k/app/service/param/optparam/OptModuleExtParamsMgr.java index db66657..6dd8b1f 100644 --- a/src/main/java/a8k/app/service/param/optparam/OptModuleExtParamsMgr.java +++ b/src/main/java/a8k/app/service/param/optparam/OptModuleExtParamsMgr.java @@ -26,6 +26,7 @@ public class OptModuleExtParamsMgr extends ParamMgr { initParam(pos, pos.chName, pos.type); } + //校验参数类型 Arrays.stream(A8kOptType.values()).sequential().forEach(this::getOptScanStartPos); Arrays.stream(A8kOptType.values()).sequential().forEach(this::getScanGain); diff --git a/src/main/java/a8k/app/type/param/optpos/OptModuleExtParam.java b/src/main/java/a8k/app/type/param/optpos/OptModuleExtParam.java index d26df71..46521be 100644 --- a/src/main/java/a8k/app/type/param/optpos/OptModuleExtParam.java +++ b/src/main/java/a8k/app/type/param/optpos/OptModuleExtParam.java @@ -3,20 +3,23 @@ package a8k.app.type.param.optpos; public enum OptModuleExtParam { // OptScanRefPos("光学扫描参考坐标", Integer.class), - FOptScanShift("F光学扫描偏移", Integer.class), - FOptEmissionIntensity("F发射强度", Integer.class),//Int - FOptScanGainVal("F光学扫描放大倍数", Double.class),//Double + FOptScanShift("F光学扫描偏移", Integer.class,2800), + FOptEmissionIntensity("F发射强度", Integer.class,1),//Int + FOptScanGainVal("F光学扫描放大倍数", Double.class,1),//Double + + TOptScanShift("T光学扫描偏移", Integer.class,3508), + TOptEmissionIntensity("T发射强度", Integer.class,1), + TOptScanGainVal("T光学扫描放大倍数", Double.class,0), - TOptScanShift("T光学扫描偏移", Integer.class), - TOptEmissionIntensity("T发射强度", Integer.class), - TOptScanGainVal("T光学扫描放大倍数", Double.class), ; public final String chName; public final Class type; + public final Object defultValue; - OptModuleExtParam(String chName, Class type) { + OptModuleExtParam(String chName, Class type, Object defultValue) { this.chName = chName; this.type = type; + this.defultValue = defultValue; } } diff --git a/src/main/java/a8k/app/utils/MinRotationAngle.java b/src/main/java/a8k/app/utils/MinRotationAngle.java new file mode 100644 index 0000000..fd2a142 --- /dev/null +++ b/src/main/java/a8k/app/utils/MinRotationAngle.java @@ -0,0 +1,37 @@ +package a8k.app.utils; + +public class MinRotationAngle { + + public static void main(String[] args) { + // 示例输入 + int now = 350; + int target = -20; + + // 输出最快转动角度 + System.out.println(minRotationAngle(now,target,360)); // 输出 10 + } + + public static int minRotationAngle(int now,int target,int circleNum ) { + // 标准化位置，确保角度在 0 到 circleNum 之间 + target = target % circleNum; + now = now % circleNum; + + // 处理负数的情况，确保位置值在 0 到 circleNum 之间 + if (target < 0) target += circleNum; + if (now < 0) now += circleNum; + + // 计算顺时针和逆时针的差距 + int clockwise = (target - now) % circleNum; + if (clockwise < 0) clockwise += circleNum; // 确保差距为正值 + + int counterclockwise = (now - target) % circleNum; + if (counterclockwise < 0) counterclockwise += circleNum; // 确保差距为正值 + + // 判断并返回带方向的最小转动角度 + if (clockwise <= counterclockwise) { + return clockwise; // 顺时针方向 + } else { + return -counterclockwise; // 逆时针方向，返回负值 + } + } +} \ No newline at end of file diff --git a/src/main/java/a8k/extui/page/driver/OptScannerCtrlPage.java b/src/main/java/a8k/extui/page/driver/OptScannerCtrlPage.java new file mode 100644 index 0000000..4554733 --- /dev/null +++ b/src/main/java/a8k/extui/page/driver/OptScannerCtrlPage.java @@ -0,0 +1,104 @@ +package a8k.extui.page.driver; + +import a8k.app.hardware.driver.OptModuleDriver; +import a8k.app.hardware.driver.StepMotorCtrlDriver; +import a8k.app.hardware.type.StepMotorMId; +import a8k.app.hardware.type.OptModuleRegIndex; +import a8k.app.type.exception.AppException; +import a8k.app.utils.ZJsonNode; +import a8k.extui.mgr.ExtApiPageMgr; +import jakarta.annotation.PostConstruct; +import jakarta.annotation.Resource; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; +import org.springframework.stereotype.Component; + +@Component +@Slf4j +@RequiredArgsConstructor +public class OptScannerCtrlPage { + + final private OptModuleDriver optModuleDriver; + + + final private ExtApiPageMgr extApiPageMgr; + + StepMotorMId id = StepMotorMId.FeedingModXM; + Integer dpos = 10; + + + + public Object readAllRegs() throws AppException { + ZJsonNode node = new ZJsonNode(); + for (OptModuleRegIndex reg : OptModuleRegIndex.values()) { + try { + Integer val = optModuleDriver.getReg(reg); + node.get(reg.name()).set(val); + } catch (AppException e) { + node.get(reg.name()).set(e.getError().code); + } + + } + return node.get(); + } + + public void setReg(OptModuleRegIndex reg, Integer val) throws AppException { + optModuleDriver.setReg(reg, val); + } + + public void setStartAndStopVel(Integer v) throws AppException { + optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_vstart, v); + optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_vstop, v); + } + + public void setV1(Integer v) throws AppException { + optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_v1, v); + } + + public void setA1AndD1(Integer acc) throws AppException { + optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_a1, acc); + optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_d1, acc); + } + + public void setAmaxAndDmax(Integer acc) throws AppException { + optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_amax, acc); + optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_dmax, acc); + } + + public void setDefaultVel(Integer v) throws AppException { + optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_vdefault, v); + } + + + + public Integer readReg(OptModuleRegIndex reg) { + try { + return optModuleDriver.getReg(reg); + } catch (AppException e) { + return 0; + } + } + + + @PostConstruct + void init() { + var page = extApiPageMgr.newPage(this); + page.newGroup("寄存器配置"); + page.addFunction("设置起停速度", this::setStartAndStopVel).setParamVal("v", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_vstart)); + page.addFunction("设置V1", this::setV1).setParamVal("v", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_v1)); + page.addFunction("设置加速度", this::setA1AndD1).setParamVal("acc", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_a1)); + page.addFunction("设置最大加速度", this::setAmaxAndDmax).setParamVal("acc", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_amax)); + page.addFunction("设置默认速度", this::setDefaultVel).setParamVal("v", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_vdefault)); + + page.addFunction("设置寄存器", this::setReg); + page.addFunction("读取所有寄存器", this::readAllRegs); + + + + extApiPageMgr.addPage(page); + + + } +} diff --git a/src/main/resources/db/zapp_a8k_pos_parameter.csv b/src/main/resources/db/zapp_a8k_pos_parameter.csv index e416b34..3c8b3ab 100644 --- a/src/main/resources/db/zapp_a8k_pos_parameter.csv +++ b/src/main/resources/db/zapp_a8k_pos_parameter.csv @@ -11,7 +11,7 @@ id,service,key,valType,val,chName 25,TubeFeedingModuleParamMgr,Tube0PreProcessPos,Integer,"{""value"":1185}",01试管预处理位置 26,TubeFeedingModuleParamMgr,TubeScanServoTorque,Integer,"{""value"":500}",试管扫描伺服力矩 27,TubeFeedingModuleParamMgr,TubeSpacing,Double,"{""value"":200.22222222222223}",试管间距 -28,HbotFixedPosParamMgr,DropLiquidPos,Pos3d,"{""x"":24358,""y"":4100,""z"":1340}",滴液位置 +28,HbotFixedPosParamMgr,DropLiquidPos,Pos3d,"{""x"":24746,""y"":4306,""z"":1340}",滴液位置 29,HbotSamplePosParamMgr,EmergencyTubeSamplePos,Pos3d,"{""x"":4857,""y"":3191,""z"":274}",<急诊位>取样位置 30,HbotSamplePosParamMgr,EmergencyTubeSampleEndPos,Pos3d,"{""x"":4857,""y"":3191,""z"":490}",<急诊位>取样结束位置 31,HbotSamplePosParamMgr,BloodHTubeSamplePos,Pos3d,"{""x"":2331,""y"":4017,""z"":294}",<全血高试管>取样位置 diff --git a/src/main/resources/db/zapp_sub_module_reg_initial_value.csv b/src/main/resources/db/zapp_sub_module_reg_initial_value.csv index 0a2ff89..f5593d5 100644 --- a/src/main/resources/db/zapp_sub_module_reg_initial_value.csv +++ b/src/main/resources/db/zapp_sub_module_reg_initial_value.csv @@ -1,6 +1,6 @@ id,mid,regIndex,regInitVal 1,HbotM,kreg_xyrobot_robot_type,0 -2,HbotM,kreg_xyrobot_one_circle_pulse,72000 +2,HbotM,kreg_xyrobot_one_circle_pulse,73000 3,HbotM,kreg_xyrobot_one_circle_pulse_denominator,10 4,HbotM,kreg_xyrobot_ihold,10 5,HbotM,kreg_xyrobot_irun,31 @@ -169,7 +169,7 @@ id,mid,regIndex,regInitVal 168,ShakeModGripperYSV,kreg_mini_servo_limit_torque,500 169,ShakeModGripperYSV,kreg_mini_servo_protective_torque,800 170,ShakeModGripperYSV,kreg_mini_servo_target_pos_tolerance,15 -171,ShakeModGripperSV,kreg_mini_servo_pos,1589 +171,ShakeModGripperSV,kreg_mini_servo_pos,1503 172,ShakeModGripperSV,kreg_mini_servo_limit_velocity,10000 173,ShakeModGripperSV,kreg_mini_servo_limit_torque,500 174,ShakeModGripperSV,kreg_mini_servo_protective_torque,800 @@ -179,19 +179,16 @@ id,mid,regIndex,regInitVal 178,ShakeModTubeScanerClampingSV,kreg_mini_servo_limit_torque,300 179,ShakeModTubeScanerClampingSV,kreg_mini_servo_protective_torque,800 180,ShakeModTubeScanerClampingSV,kreg_mini_servo_target_pos_tolerance,15 -181,ShakeModTubeScanerRotateSV,kreg_mini_servo_pos,2669 +181,ShakeModTubeScanerRotateSV,kreg_mini_servo_pos,2666 182,ShakeModTubeScanerRotateSV,kreg_mini_servo_limit_velocity,10000 183,ShakeModTubeScanerRotateSV,kreg_mini_servo_limit_torque,300 184,ShakeModTubeScanerRotateSV,kreg_mini_servo_protective_torque,800 185,ShakeModTubeScanerRotateSV,kreg_mini_servo_target_pos_tolerance,15 -186,ShakeModLiftingSV,kreg_mini_servo_pos,650 +186,ShakeModLiftingSV,kreg_mini_servo_pos,642 187,ShakeModLiftingSV,kreg_mini_servo_limit_velocity,800 188,ShakeModLiftingSV,kreg_mini_servo_limit_torque,100 189,ShakeModLiftingSV,kreg_mini_servo_protective_torque,800 190,ShakeModLiftingSV,kreg_mini_servo_target_pos_tolerance,30 -191,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_target,250 -192,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_nowoutput,0 -193,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_feedbackval,240 194,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_kp,6000 195,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_ki,100 196,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_kd,0 @@ -202,7 +199,7 @@ id,mid,regIndex,regInitVal 201,PlatesBoxTCM,kreg_water_cooling_tmp_controler_pid_compute_interval,9000 202,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_target,250 203,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_nowoutput,0 -204,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_feedbackval,240 +204,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_feedbackval,269 205,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_kp,6000 206,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_ki,100 207,IncubatorTCM,kreg_water_cooling_tmp_controler_pid_kd,0 @@ -345,24 +342,24 @@ id,mid,regIndex,regInitVal 350,OptModScannerM,kreg_step_motor_shaft,1 351,OptModScannerM,kreg_step_motor_one_circle_pulse,1590000 352,OptModScannerM,kreg_step_motor_one_circle_pulse_denominator,10000 -353,OptModScannerM,kreg_step_motor_default_velocity,600 +353,OptModScannerM,kreg_step_motor_default_velocity,1200 354,OptModScannerM,kreg_step_motor_ihold,3 -355,OptModScannerM,kreg_step_motor_irun,15 +355,OptModScannerM,kreg_step_motor_irun,8 356,OptModScannerM,kreg_step_motor_iholddelay,1000 357,OptModScannerM,kreg_step_motor_iglobalscaler,0 -358,OptModScannerM,kreg_step_motor_mres,0 +358,OptModScannerM,kreg_step_motor_mres,2 359,OptModScannerM,kreg_step_motor_run_to_zero_speed,600 360,OptModScannerM,kreg_step_motor_look_zero_edge_speed,100 361,OptModScannerM,kreg_step_motor_max_d,0 362,OptModScannerM,kreg_step_motor_min_d,0 363,OptModScannerM,kreg_step_motor_in_debug_mode,0 -364,OptModScannerM,kreg_step_motor_vstart,100 +364,OptModScannerM,kreg_step_motor_vstart,300 365,OptModScannerM,kreg_step_motor_a1,50 -366,OptModScannerM,kreg_step_motor_amax,300 +366,OptModScannerM,kreg_step_motor_amax,500 367,OptModScannerM,kreg_step_motor_v1,300 -368,OptModScannerM,kreg_step_motor_dmax,300 +368,OptModScannerM,kreg_step_motor_dmax,500 369,OptModScannerM,kreg_step_motor_d1,50 -370,OptModScannerM,kreg_step_motor_vstop,100 +370,OptModScannerM,kreg_step_motor_vstop,300 371,OptModScannerM,kreg_step_motor_tzerowait,0 372,OptModScannerM,kreg_step_motor_enc_resolution,0 373,OptModScannerM,kreg_step_motor_enable_enc,0 @@ -396,20 +393,20 @@ id,mid,regIndex,regInitVal 401,OptModPullM,kreg_step_motor_dzero_pos,0 402,OptModPullM,kret_step_motor_pos_devi_tolerance,30 403,OptModPullM,kret_step_motor_io_trigger_append_distance,10 -404,OptMod,kreg_a8k_opt_t_pos_offset,3723 -405,OptMod,kreg_a8k_opt_f_pos_offset,2559 -406,OptMod,kreg_a8k_opt_t_reverse_scan_pos_offset,2523 -407,OptMod,kreg_a8k_opt_f_reverse_scan_pos_offset,1359 +404,OptMod,kreg_a8k_opt_t_pos_offset,3508 +405,OptMod,kreg_a8k_opt_f_pos_offset,2800 +406,OptMod,kreg_a8k_opt_t_reverse_scan_pos_offset,2308 +407,OptMod,kreg_a8k_opt_f_reverse_scan_pos_offset,1600 408,OptMod,kreg_a8k_opt_scan_step_interval,1 409,OptMod,kreg_a8k_opt_scan_pointnum,1200 -410,OptMod,kreg_a8k_opt_scan_vdefault,1200 -411,OptMod,kreg_a8k_opt_scan_vstart,400 -412,OptMod,kreg_a8k_opt_scan_a1,300 -413,OptMod,kreg_a8k_opt_scan_amax,1000 -414,OptMod,kreg_a8k_opt_scan_v1,550 -415,OptMod,kreg_a8k_opt_scan_dmax,1000 -416,OptMod,kreg_a8k_opt_scan_d1,300 -417,OptMod,kreg_a8k_opt_scan_vstop,400 +410,OptMod,kreg_a8k_opt_scan_vdefault,1800 +411,OptMod,kreg_a8k_opt_scan_vstart,700 +412,OptMod,kreg_a8k_opt_scan_a1,700 +413,OptMod,kreg_a8k_opt_scan_amax,700 +414,OptMod,kreg_a8k_opt_scan_v1,700 +415,OptMod,kreg_a8k_opt_scan_dmax,700 +416,OptMod,kreg_a8k_opt_scan_d1,700 +417,OptMod,kreg_a8k_opt_scan_vstop,700 418,OptMod,kreg_a8k_opt_scan_tzerowait,0 419,PipetteMod,kreg_pipette_zm_pos_devi_tolerance,0 420,PipetteMod,kreg_pipette_zm_io_trigger_append_distance,0