Browse Source

update

tags/v0
zhaohe 9 months ago
parent
commit
612166778d
  1. 8
      src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
  2. 1
      src/main/java/a8k/service/app/devicectrl/param/LowerDeviceParamMgr.java
  3. 12
      src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java
  4. BIN
      src/main/resources/app.db

8
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); 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 // Reset some motor

1
src/main/java/a8k/service/app/devicectrl/param/LowerDeviceParamMgr.java

@ -137,7 +137,6 @@ public class LowerDeviceParamMgr {
check("TubePreProcesPosParamMgr", "ZMotorTakeHTubePos"); check("TubePreProcesPosParamMgr", "ZMotorTakeHTubePos");
check("TubePreProcesPosParamMgr", "ZMotorTakeSTubePos"); check("TubePreProcesPosParamMgr", "ZMotorTakeSTubePos");
check("TubePreProcesPosParamMgr", "ZMotorShakeTubePos"); check("TubePreProcesPosParamMgr", "ZMotorShakeTubePos");
check("TubePreProcesPosParamMgr", "ZMotorPutTubeCapPos");
} }

12
src/main/java/a8k/service/app/devicectrl/param/calibration/TubePreProcesPosCalibration.java

@ -48,7 +48,7 @@ public class TubePreProcesPosCalibration {
public void deviceReset() throws AppException { public void deviceReset() throws AppException {
enableModule(); enableModule();
motorMoveZeroExDriver.preProcessModuleMoveToZero(); motorMoveZeroExDriver.preProcessModuleMoveToZero();
stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, 5000);
stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, overtime);
tubePreProcesModuleExDriver.clampingMReleaseTubeInFuzzyPos(); tubePreProcesModuleExDriver.clampingMReleaseTubeInFuzzyPos();
} }
@ -59,6 +59,8 @@ public class TubePreProcesPosCalibration {
@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 3) @ExtApiFn(name = "失能相关模块", group = "测试工具", order = 3)
public void disableModule() throws AppException { public void disableModule() throws AppException {
enableModule();
stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, overtime);
motorEnableExDriver.preProcessRelatedModuleEnable(false); motorEnableExDriver.preProcessRelatedModuleEnable(false);
motorEnableExDriver.tubeFeedRelatedModuleEnable(false); motorEnableExDriver.tubeFeedRelatedModuleEnable(false);
} }
@ -71,7 +73,7 @@ public class TubePreProcesPosCalibration {
@ExtApiFn(name = "测量Z轴", group = "辅助工具", order = 10) @ExtApiFn(name = "测量Z轴", group = "辅助工具", order = 10)
public Integer measureZAxis() throws AppException { public Integer measureZAxis() throws AppException {
enableModule(); enableModule();
Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 10000);
Integer zpos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
disableModule(); disableModule();
return zpos; return zpos;
} }
@ -108,7 +110,7 @@ public class TubePreProcesPosCalibration {
public Integer readShakeModClampingMPos() throws AppException { public Integer readShakeModClampingMPos() throws AppException {
enableModule(); enableModule();
Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 10000);
Integer pos = stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModClampingM, overtime);
disableModule(); disableModule();
return pos; return pos;
} }
@ -142,7 +144,7 @@ public class TubePreProcesPosCalibration {
//2. 夹爪松开 //2. 夹爪松开
tubePreProcesModuleExDriver.gripperSVOpen(); tubePreProcesModuleExDriver.gripperSVOpen();
//3. Z轴归零并读取当前位置 //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(TubePreProcessGripperPos.GripperServoTakeCapPos, gripperPos);
posMgr.setPos(TubePreProcessYPos.YServoTakeTubePos, ySVPos); posMgr.setPos(TubePreProcessYPos.YServoTakeTubePos, ySVPos);
@ -179,7 +181,7 @@ public class TubePreProcesPosCalibration {
//2. 试管夹具张开一点 //2. 试管夹具张开一点
stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, overtime); stepMotorCtrlDriver.stepMotorEasyMoveByBlock(StepMotorMId.ShakeModClampingM, 10, overtime);
//3. Z轴归零并读取当前位置 //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 //4. 夹具归零并读取位置
Integer clampPos = readShakeModClampingMPos(); Integer clampPos = readShakeModClampingMPos();
clampPos = clampPos - 10 - 2; clampPos = clampPos - 10 - 2;

BIN
src/main/resources/app.db

Loading…
Cancel
Save