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