10 changed files with 249 additions and 57 deletions
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14src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java
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12src/main/java/a8k/app/hardware/driver/OptModuleDriver.java
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4src/main/java/a8k/app/hardware/driver/StepMotorCtrlDriver.java
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64src/main/java/a8k/app/service/lowerctrl/TurnableMoveCtrlService.java
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1src/main/java/a8k/app/service/param/optparam/OptModuleExtParamsMgr.java
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17src/main/java/a8k/app/type/param/optpos/OptModuleExtParam.java
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37src/main/java/a8k/app/utils/MinRotationAngle.java
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104src/main/java/a8k/extui/page/driver/OptScannerCtrlPage.java
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2src/main/resources/db/zapp_a8k_pos_parameter.csv
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51src/main/resources/db/zapp_sub_module_reg_initial_value.csv
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package a8k.app.utils; |
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public class MinRotationAngle { |
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public static void main(String[] args) { |
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// 示例输入 |
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int now = 350; |
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int target = -20; |
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// 输出最快转动角度 |
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System.out.println(minRotationAngle(now,target,360)); // 输出 10 |
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} |
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public static int minRotationAngle(int now,int target,int circleNum ) { |
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// 标准化位置，确保角度在 0 到 circleNum 之间 |
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target = target % circleNum; |
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now = now % circleNum; |
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// 处理负数的情况，确保位置值在 0 到 circleNum 之间 |
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if (target < 0) target += circleNum; |
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if (now < 0) now += circleNum; |
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// 计算顺时针和逆时针的差距 |
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int clockwise = (target - now) % circleNum; |
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if (clockwise < 0) clockwise += circleNum; // 确保差距为正值 |
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int counterclockwise = (now - target) % circleNum; |
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if (counterclockwise < 0) counterclockwise += circleNum; // 确保差距为正值 |
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// 判断并返回带方向的最小转动角度 |
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if (clockwise <= counterclockwise) { |
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return clockwise; // 顺时针方向 |
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} else { |
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return -counterclockwise; // 逆时针方向，返回负值 |
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} |
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} |
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} |
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@ -0,0 +1,104 @@ |
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package a8k.extui.page.driver; |
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import a8k.app.hardware.driver.OptModuleDriver; |
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import a8k.app.hardware.driver.StepMotorCtrlDriver; |
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import a8k.app.hardware.type.StepMotorMId; |
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import a8k.app.hardware.type.OptModuleRegIndex; |
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import a8k.app.type.exception.AppException; |
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import a8k.app.utils.ZJsonNode; |
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import a8k.extui.mgr.ExtApiPageMgr; |
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import jakarta.annotation.PostConstruct; |
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import jakarta.annotation.Resource; |
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import lombok.RequiredArgsConstructor; |
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import lombok.extern.slf4j.Slf4j; |
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import org.slf4j.Logger; |
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import org.slf4j.LoggerFactory; |
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import org.springframework.stereotype.Component; |
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@Component |
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@Slf4j |
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@RequiredArgsConstructor |
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public class OptScannerCtrlPage { |
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final private OptModuleDriver optModuleDriver; |
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final private ExtApiPageMgr extApiPageMgr; |
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StepMotorMId id = StepMotorMId.FeedingModXM; |
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Integer dpos = 10; |
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public Object readAllRegs() throws AppException { |
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ZJsonNode node = new ZJsonNode(); |
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for (OptModuleRegIndex reg : OptModuleRegIndex.values()) { |
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try { |
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Integer val = optModuleDriver.getReg(reg); |
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node.get(reg.name()).set(val); |
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} catch (AppException e) { |
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node.get(reg.name()).set(e.getError().code); |
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} |
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} |
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return node.get(); |
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} |
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public void setReg(OptModuleRegIndex reg, Integer val) throws AppException { |
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optModuleDriver.setReg(reg, val); |
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} |
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public void setStartAndStopVel(Integer v) throws AppException { |
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optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_vstart, v); |
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optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_vstop, v); |
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} |
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public void setV1(Integer v) throws AppException { |
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optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_v1, v); |
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} |
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public void setA1AndD1(Integer acc) throws AppException { |
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optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_a1, acc); |
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optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_d1, acc); |
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} |
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public void setAmaxAndDmax(Integer acc) throws AppException { |
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optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_amax, acc); |
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optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_dmax, acc); |
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} |
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public void setDefaultVel(Integer v) throws AppException { |
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optModuleDriver.setReg(OptModuleRegIndex.kreg_a8k_opt_scan_vdefault, v); |
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} |
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public Integer readReg(OptModuleRegIndex reg) { |
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try { |
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return optModuleDriver.getReg(reg); |
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} catch (AppException e) { |
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return 0; |
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} |
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} |
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@PostConstruct |
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void init() { |
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var page = extApiPageMgr.newPage(this); |
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page.newGroup("寄存器配置"); |
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page.addFunction("设置起停速度", this::setStartAndStopVel).setParamVal("v", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_vstart)); |
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page.addFunction("设置V1", this::setV1).setParamVal("v", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_v1)); |
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page.addFunction("设置加速度", this::setA1AndD1).setParamVal("acc", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_a1)); |
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page.addFunction("设置最大加速度", this::setAmaxAndDmax).setParamVal("acc", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_amax)); |
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page.addFunction("设置默认速度", this::setDefaultVel).setParamVal("v", () -> readReg(OptModuleRegIndex.kreg_a8k_opt_scan_vdefault)); |
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page.addFunction("设置寄存器", this::setReg); |
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page.addFunction("读取所有寄存器", this::readAllRegs); |
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extApiPageMgr.addPage(page); |
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} |
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} |
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