From 612166778d3ab94a4e5cd4122378cbea942ea39c Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 26 Oct 2024 16:10:41 +0800 Subject: [PATCH] update --- .../ctrlservice/TubePreProcesCtrlService.java | 8 ++++---- .../app/devicectrl/param/LowerDeviceParamMgr.java | 1 - .../calibration/TubePreProcesPosCalibration.java | 12 +++++++----- src/main/resources/app.db | Bin 225280 -> 225280 bytes 4 files changed, 11 insertions(+), 10 deletions(-) diff --git a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java index ddcd667..6fc03cf 100644 --- a/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java +++ b/src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java @@ -68,10 +68,10 @@ public class TubePreProcesCtrlService { throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV); } - // 检查摇匀夹紧是否在零位 - if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) { - throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModClampingM); - } +// // 检查摇匀夹紧是否在零位 +// if (!stepMotorCtrlDriver.stepMotorReadIoState(StepMotorMId.ShakeModClampingM, 0)) { +// throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModClampingM); +// } // // Reset some motor diff --git a/src/main/java/a8k/service/app/devicectrl/param/LowerDeviceParamMgr.java b/src/main/java/a8k/service/app/devicectrl/param/LowerDeviceParamMgr.java index e815f7e..9b3d753 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/LowerDeviceParamMgr.java +++ b/src/main/java/a8k/service/app/devicectrl/param/LowerDeviceParamMgr.java @@ -137,7 +137,6 @@ public class LowerDeviceParamMgr { check("TubePreProcesPosParamMgr", "ZMotorTakeHTubePos"); check("TubePreProcesPosParamMgr", "ZMotorTakeSTubePos"); check("TubePreProcesPosParamMgr", "ZMotorShakeTubePos"); - check("TubePreProcesPosParamMgr", "ZMotorPutTubeCapPos"); } diff --git a/src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java b/src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java index 3ee31a2..15c4cdc 100644 --- a/src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java +++ b/src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java @@ -48,7 +48,7 @@ public class TubePreProcesPosCalibration { public void deviceReset() throws AppException { enableModule(); motorMoveZeroExDriver.preProcessModuleMoveToZero(); - stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, 5000); + stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, overtime); tubePreProcesModuleExDriver.clampingMReleaseTubeInFuzzyPos(); } @@ -59,6 +59,8 @@ public class TubePreProcesPosCalibration { @ExtApiFn(name = "失能相关模块", group = "测试工具", order = 3) public void disableModule() throws AppException { + enableModule(); + stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, overtime); motorEnableExDriver.preProcessRelatedModuleEnable(false); motorEnableExDriver.tubeFeedRelatedModuleEnable(false); } @@ -71,7 +73,7 @@ public class TubePreProcesPosCalibration { @ExtApiFn(name = "测量Z轴", group = "辅助工具", order = 10) public Integer measureZAxis() throws AppException { enableModule(); - Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000); + Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime); disableModule(); return zpos; } @@ -108,7 +110,7 @@ public class TubePreProcesPosCalibration { public Integer readShakeModClampingMPos() throws AppException { enableModule(); - Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 10000); + Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM, overtime); disableModule(); return pos; } @@ -142,7 +144,7 @@ public class TubePreProcesPosCalibration { //2. 夹爪松开 tubePreProcesModuleExDriver.gripperSVOpen(); //3. Z轴归零，并读取当前位置 - Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000); + Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime); posMgr.setPos(TubePreProcessGripperPos.GripperServoTakeCapPos, gripperPos); posMgr.setPos(TubePreProcessYPos.YServoTakeTubePos, ySVPos); @@ -179,7 +181,7 @@ public class TubePreProcesPosCalibration { //2. 试管夹具张开一点 stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, overtime); //3. Z轴归零，并读取当前位置 - Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000); + Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime); //4. 夹具归零并读取位置 Integer clampPos = readShakeModClampingMPos(); clampPos = clampPos - 10 - 2; diff --git a/src/main/resources/app.db b/src/main/resources/app.db index 4d6b11ecda55c5e0e9e8d4d0e3c9198195697c5e..97cdd562223c2deb3836b364b43a701f43263c19 100644 GIT binary patch delta 599 zcmZp8z}xVEcY>7AgmVlG4CX*=2E>XC4E*~i>KL&BMfJ)$8dF+R7`LV{EfHa|Fx}22 z$~1?O$=rB)-&ZEd>1_X)`Wa0oPuL_qJx83$fyvZt`Z{r@SSADW>AVt5rx{HrU)(4? z{fh*XCzGM&c6&*t<7|v+)7cf6%w#XK#{t}y88F>clc{j~#|cbVShs(i#w4ysae$s=I;zH~IGyzalQkc!2QLfH zc9tOK&mg#2&|oR^^dllnEM< z4BYmEDUg+gkBuQ`vY5qzcT{^gE+jMpXCNtU3thKCcEd4B!%!`<{na(p6Gx0LcV~k=HXSl`C zHo1^nXM36gQ!XoqmKQsNI?zqi^CmD!uszwaD8w^h`|D{;O3d4>HJMJQg|sp7ujIGj zJH{8n`C{+jG7#O=e`AzU>E7AnSA)F(x+_ejWxjpkI`x@BPc