recode

src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java

@@ -13,7 +13,7 @@ public enum ExtApiTabConfig {
 	AppProjInfoMgrService("应用数据.项目与ID卡管理", true), //OK
 	AppReactionResultMgrService("应用数据.反应结果管理", true), //OK
 
-
+	MiniServoReferencePointSetting("校准.舵机参考点设置", true),
 	Hbot2DCodeScanPosCalibration("校准.耗材扫描校准", true),
 	TubeFeedingModulePosCalibration("校准.试管入料校准", true),
 	TubePreProcesPosCalibration("校准.试管预处理校准", true),

src/main/java/a8k/service/app/devicedriver/calibration/MiniServoReferencePointSetting.java

@@ -0,0 +1,65 @@
+package a8k.service.app.devicedriver.calibration;
+
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiFn;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.app.devicedriver.basectrl.MiniServoControler;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMId;
+import a8k.type.exception.AppException;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+@Component
+@ExtApiTab(cfg = ExtApiTabConfig.MiniServoReferencePointSetting)
+public class MiniServoReferencePointSetting {
+
+	@Resource
+	MiniServoControler miniServoControler;
+
+	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 1)
+	public void disableMotor() throws AppException {
+		miniServoControler.miniServoEnable(MiniServoMId.ShakeModGripperSV, 0);
+		miniServoControler.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 0);
+		miniServoControler.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 0);
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 2)
+	public void enableMotor() throws AppException {
+		miniServoControler.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
+		miniServoControler.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
+		miniServoControler.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
+	}
+
+
+	@ExtApiFn(name = "设置<夹爪><参考点>(完全张开的位置)", group = "参考点设置", order = 11, newline = true)
+	public Integer gripperSVSetCurrentPosAsRef() throws AppException {
+		miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperSV);
+		return 1800;
+	}
+
+	@ExtApiFn(name = "设置<摇匀模组Y轴舵机><参考点>(Y轴最外侧的位置)", group = "参考点设置", order = 12, newline = true)
+	public Integer YAxixServoSetCurrentPosAsRef() throws AppException {
+		return miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperYSV);
+	}
+
+	@ExtApiFn(name = "设置<夹紧舵机>参考点(水平位置)", group = "参考点设置", order = 13)
+	public void setTubeScanClampPos() throws AppException {
+		miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModTubeScanerClampingSV);
+	}
+
+	@ExtApiFn(name = "夹紧舵机移动到待机位(在参考点附近)", group = "校验", order = 21)
+	public void gripperSVMoveToZeroBlock() throws AppException {
+		miniServoControler.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
+	}
+
+	@ExtApiFn(name = "摇匀模组Y轴舵机移动到待机位(在参考点附近)", group = "校验", order = 22)
+	public void YAxixServoMoveToZeroBlock() throws AppException {
+		miniServoControler.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
+	}
+
+	@ExtApiFn(name = "夹紧舵机移动到待机位(在参考点附近)", group = "校验", order = 23)
+	public void tubeScanClampMoveToZeroBlock() throws AppException {
+		miniServoControler.miniServoMoveToZeroBlock(MiniServoMId.ShakeModTubeScanerClampingSV);
+	}
+}

src/main/java/a8k/service/app/devicedriver/calibration/PositionCalibration.java

@@ -1,117 +0,0 @@
-package a8k.service.app.devicedriver.calibration;
-
-import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
-import a8k.extapi_controler.utils.ExtApiFn;
-import a8k.extapi_controler.utils.ExtApiStatu;
-import a8k.extapi_controler.utils.ExtApiTab;
-import a8k.type.exception.AppException;
-import a8k.type.cfg.Pos2d;
-import a8k.hardware.A8kCanBusService;
-import a8k.hardware.type.a8kcanprotocol.MId;
-import jakarta.annotation.Resource;
-import org.springframework.stereotype.Component;
-
-//@Component
-//@ExtApiTab(cfg = ExtApiTabConfig.PositionCalibration)
-//public class PositionCalibration {
-//
-//	@Resource
-//	A8kCanBusService canBus;
-//	@Resource
-//	TimeParam        timep;
-//	@Resource
-//	PosParam         pp;
-//	@Resource
-//	DebugParam       dp;
-//
-//	@ExtApiFn(name = "试管夹平移电机-使能", group = "电机使能")
-//	public void FeedingModXMEnable(Boolean enable) throws AppException {
-//		stepMotorControler.stepMotorEnable(StepMotorMId.FeedingModXM, enable ? 1 : 0);
-//	}
-//
-//	@ExtApiFn(name = "板夹仓Y轴-使能", group = "电机使能")
-//	public void platesBoxYMEndble(Boolean enable) throws AppException {
-//		stepMotorControler.stepMotorEnable(StepMotorMId.PlatesBoxYM, enable ? 1 : 0);
-//	}
-//
-//	@ExtApiFn(name = "板夹仓推杆-使能", group = "电机使能")
-//	public void platesBoxPusherMEndble(Boolean enable) throws AppException {
-//		stepMotorControler.stepMotorEnable(StepMotorMId.PlatesBoxPusherM, enable ? 1 : 0);
-//	}
-//
-//	@ExtApiFn(name = "拉杆-使能", group = "电机使能")
-//	public void optModPullMEndble(Boolean enable) throws AppException {
-//		stepMotorControler.stepMotorEnable(StepMotorMId.OptModPullM, enable ? 1 : 0);
-//	}
-//
-//	@ExtApiFn(name = "光学模组扫描器-使能", group = "电机使能")
-//	public void optModScannerMEndble(Boolean enable) throws AppException {
-//		stepMotorControler.stepMotorEnable(StepMotorMId.OptModScannerM, enable ? 1 : 0);
-//	}
-//
-//	@ExtApiFn(name = "转盘-使能", group = "电机使能")
-//	public void incubatorRotateCtrlMEndble(Boolean enable) throws AppException {
-//		stepMotorControler.stepMotorEnable(StepMotorMId.IncubatorRotateCtrlM, enable ? 1 : 0);
-//
-//	}
-//
-//
-//	@ExtApiFn(name = "试管夹平移电机-读取位置", group = "通过归零测量位置")
-//	public Integer readXPosByMoveZero() throws AppException {
-//		return (stepMotorControler.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.FeedingModXM, timep.getActionOvertime()));
-//	}
-//
-//
-//	@ExtApiFn(name = "通过归零读取<板夹仓>位置", group = "通过归零测量位置")
-//	public Integer readPlatesBoxYMPosByMoveToZero() throws AppException {
-//		return (stepMotorControler.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.PlatesBoxYM, timep.getActionOvertime()));
-//	}
-//
-//	@ExtApiFn(name = "通过归零读取<推杆>位置", group = "通过归零测量位置")
-//	public Integer readPlatesBoxPusherMPosByMoveToZero() throws AppException {
-//		return (stepMotorControler.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.PlatesBoxPusherM, timep.getActionOvertime()));
-//	}
-//
-//	@ExtApiFn(name = "通过归零读取<拉杆>位置", group = "通过归零测量位置")
-//	public Integer readOptModPullMPosByMoveToZero() throws AppException {
-//		return (stepMotorControler.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.OptModPullM, timep.getActionOvertime()));
-//	}
-//
-//	@ExtApiFn(name = "通过归零读取<光学模组扫描器>位置", group = "通过归零测量位置")
-//	public Integer readOptModScannerMPosByMoveToZero() throws AppException {
-//		return (stepMotorControler.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.OptModScannerM, timep.getActionOvertime()));
-//	}
-//
-//	@ExtApiFn(name = "通过归零读取<摇匀模组Z轴>位置", group = "通过归零测量位置")
-//	public Integer readShakeModGripperZMPosByMoveToZero() throws AppException {
-//		return (stepMotorControler.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, timep.getActionOvertime()));
-//	}
-//
-//
-//	@ExtApiStatu(name = "HbotPos", group = "Hbot")
-//	public String getHbotPos() throws AppException {
-//		Pos2d pos = canBus.hbotReadPos(MId.HbotM);
-//		return pos.toString();
-//	}
-//
-//
-//	@ExtApiStatu(name = "转盘位置")
-//	public String getIncubatorRotateCtrlMPos() throws AppException {
-//		Integer pos = stepMotorControler.stepMotorReadPos(StepMotorMId.IncubatorRotateCtrlM);
-//		return pos.toString();
-//	}
-//
-//	@ExtApiStatu(name = "抓手Y轴位置", group = "摇匀模组")
-//	public String getShakeModGripperYPos() throws AppException {
-//		Integer pos = miniServoControler.miniServoReadPos(MiniServoMid.ShakeModGripperYSV);
-//		return pos.toString();
-//	}
-//
-//	@ExtApiStatu(name = "抓手位置", group = "摇匀模组")
-//	public String getGripperPos() throws AppException {
-//		Integer pos = miniServoControler.miniServoReadPos(MiniServoMid.ShakeModGripperSV);
-//		return pos.toString();
-//	}
-//
-//
-//}

src/main/java/a8k/service/app/devicedriver/calibration/TubeFeedingModulePosCalibration.java

@@ -101,10 +101,10 @@ public class TubeFeedingModulePosCalibration {
 		tubeScanPosMgr.setTube0ExistJudgXPos(readFeedingModXMPos());
 	}
 
-	@ExtApiFn(name = "<夹紧舵机>设置当前位置参考点(水平位置)", group = "设定", order = 26)
-	public void setTubeScanClampPos() throws AppException {
-		miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModTubeScanerClampingSV);
-	}
+//	@ExtApiFn(name = "<夹紧舵机>设置当前位置参考点(水平位置)", group = "设定", order = 26)
+//	public void setTubeScanClampPos() throws AppException {
+//		miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModTubeScanerClampingSV);
+//	}
 
 
 	@ExtApiFn(name = "夹紧试管架", group = "校验", order = 31)

src/main/java/a8k/service/app/devicedriver/calibration/TubePreProcesPosCalibration.java

@@ -85,11 +85,11 @@ public class TubePreProcesPosCalibration {
 	//	夹爪标定,校准,校验
 	//
 
-	@ExtApiFn(name = "设置当前位置为<参考点>(完全张开的位置)", group = "标定.夹爪", order = 21, newline = true)
-	public Integer gripperSVSetCurrentPosAsRef() throws AppException {
-		miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperSV);
-		return 1800;
-	}
+//	@ExtApiFn(name = "设置当前位置为<参考点>(完全张开的位置)", group = "标定.夹爪", order = 21, newline = true)
+//	public Integer gripperSVSetCurrentPosAsRef() throws AppException {
+//		miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperSV);
+//		return 1800;
+//	}
 
 	@ExtApiFn(name = "<标定>当前点为<抓手张开位置>", group = "标定.夹爪", order = 22)
 	public Integer gripperSVSetCurrentPosAsOpenPos() throws AppException {
@@ -134,10 +134,10 @@ public class TubePreProcesPosCalibration {
 	//YSV        : 设置参考点,标定,验证
 	//
 
-	@ExtApiFn(name = "设置当前位置为<参考点>(Y轴最外侧的位置)", group = "标定.YSV", order = 31, newline = true)
-	public Integer YAxixServoSetCurrentPosAsRef() throws AppException {
-		return miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperYSV);
-	}
+//	@ExtApiFn(name = "设置当前位置为<参考点>(Y轴最外侧的位置)", group = "标定.YSV", order = 31, newline = true)
+//	public Integer YAxixServoSetCurrentPosAsRef() throws AppException {
+//		return miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperYSV);
+//	}
 
 	@ExtApiFn(name = "<标定>当前点为<取试管位置>", group = "标定.YSV", order = 32)
 	public Integer YAxixServoSetCurrentPosAsTakeTubePos() throws AppException {