解决主转盘齿轮间隙的问题

src/main/java/a8k/canbus/A8kModParamInitializer.java

@@ -71,14 +71,12 @@ public class A8kModParamInitializer implements AppEventListener {
 		//
 		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_run_to_zero_speed, 500);
 		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_default_velocity, 2200);
-		//		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_a1, 50);
-		//		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_amax, 100);
 		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_irun, 31);
 
-		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kreg_step_motor_default_velocity, 1500);
+		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kreg_step_motor_default_velocity, 1800);
 		canBus.moduleSetReg(MId.PlatesBoxPusherM, RegIndex.kreg_step_motor_irun, 31);
 
-		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kreg_step_motor_default_velocity, 1500);
+		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kreg_step_motor_default_velocity, 1800);
 		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kreg_step_motor_irun, 25);
 
 		//		canBus.moduleSetReg(MId.OptModPullM, RegIndex.kreg_step_motor_run_to_zero_speed, 500);

src/main/java/a8k/canbus/protocol/CmdId.java

@@ -9,7 +9,7 @@ public enum CmdId {
 	event_bus_reg_change_report(0x0064, "event_bus_reg_change_report"),//
 	//
 	module_ping(0x0100, "module_ping"),//
-	module_get_status(0x0104, "module_get_status", false),//
+	module_get_status(0x0104, "module_get_status", true),//
 	module_stop(0x0101, "module_stop"),//
 	module_set_reg(0x0105, "module_set_reg"),//
 	module_get_reg(0x0106, "module_get_reg"),//

src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java

@@ -216,8 +216,23 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		//限制pos在 0--> 36000之间
 		pos = pos % 36000;
 		if (pos < 0) {pos += 36000;}
+
+		//先移动半个间距，用来检测是否发生卡板
+		Integer nowPos = canBus.stepMotorReadPos(MId.IncubatorRotateCtrlM);
+		if (nowPos < pos) {
+			canBus.stepMotorEasyMoveByBlock(MId.IncubatorRotateCtrlM, getTurntablePosSpacing(), getActionOvertime());
+		} else if (nowPos > pos) {
+			canBus.stepMotorEasyMoveByBlock(MId.IncubatorRotateCtrlM, -getTurntablePosSpacing(), getActionOvertime());
+		}
+
+		//解决齿轮间隙的问题
+		if (nowPos < pos) {
+			canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM, pos, getActionOvertime());
+		} else {
+			canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM, pos - 300/**/, getActionOvertime());
 			canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM, pos, getActionOvertime());
 		}
+	}
 
 
 	@HardwareServiceAction(name = "转盘移动到推板位", group = "单步操作")
@@ -289,9 +304,7 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 				continue;
 			}
 			pushPlateQuick(PBCh, index);
-			if (pushAllPlateAndDropBreakFlag) {break;}
 			pullPlate(index);
-			if (pushAllPlateAndDropBreakFlag) {break;}
 			dropPlate();
 			if (pushAllPlateAndDropBreakFlag) {break;}
 		}