update

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

@@ -141,7 +141,9 @@ public class TubeFeedingModulePosCalibration {
 
 	@ExtApiFn(name = "扫描试管架", group = "校验", order = 400)
 	public TubeHolderScanResult calibrateScanTubeHolder() throws AppException {
-		return tubeTubeFeedingCtrlService.scanTubeHodler();
+		TubeHolderScanResult result = tubeTubeFeedingCtrlService.scanTubeHodler();
+		tubeTubeFeedingCtrlService.ejectTubeHolder();
+		return result;
 	}
 
 	@ExtApiFn(name = "移动试管到预处理位置", group = "校验", order = 401)

src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java

@@ -59,6 +59,7 @@ public class TubeTubeFeedingCtrlService {
 	StepMotorCtrlDriver   stepMotorCtrlDriver;
 
 
+
 	private Boolean isTubeExist() throws AppException {
 		return canBus.getIOState(IOId.TubeExistPPS);
 	}
@@ -212,13 +213,10 @@ public class TubeTubeFeedingCtrlService {
 		moveTubeToScanPos(tubeIndex);
 		try {
 			tubeTransportExDriver.scanClampModClamp();
-
-			canBus.codeScanerStartScan(MId.FeedingModScannerMod);
-			miniServoDriver.miniServoRotateWithTorque(MiniServoMId.ShakeModTubeScanerClampingSV, stp.getTubeScanServoTorque());
+			miniServoDriver.miniServoRotateWithTorque(MiniServoMId.ShakeModTubeScanerRotateSV, stp.getTubeScanServoTorque());
 			return codeScaner.feedingModScannerModCodeScannerScanCode(scanOvertime);
 		} finally {
-			canBus.moduleStop(MId.ShakeModTubeScanerClampingSV);
-			canBus.moduleStop(MId.FeedingModScannerMod);
+			miniServoDriver.moduleStop(MiniServoMId.ShakeModTubeScanerRotateSV);
 			tubeTransportExDriver.scanClampModRelease();
 		}
 	}
@@ -269,6 +267,7 @@ public class TubeTubeFeedingCtrlService {
 		if (tubeType.isEmpty()) {
 			logger.warn("扫描试管架类型失败，弹出试管架");
 			ebus.pushEvent(new AppWarningNotifyEvent(A8kEcode.APPE_SCAN_TUBEHOLDER_TYPE_TIMEOUT));
+			ejectTubeHolder();
 			return null;
 		}
 		logger.info("扫描试管架类型成功,{}", tubeType);
@@ -292,6 +291,7 @@ public class TubeTubeFeedingCtrlService {
 		if (!hasTube) {
 			logger.error("试管架中没有试管");
 			ebus.pushEvent(new AppWarningNotifyEvent(A8kEcode.APPE_TUBE_HOLDER_TYPE_IS_NOT_SUPPORT));
+			ejectTubeHolder();
 			return null;
 		}
 		result.tubeHolderType = tubeType;

src/main/java/a8k/service/app/devicectrl/driver/MiniServoDriver.java

@@ -20,6 +20,9 @@ public class MiniServoDriver {
 	@Resource
 	A8kCanBusService canBus;
 
+	public void moduleStop(MiniServoMId id) throws AppException {
+		canBus.moduleStop(id.mid);
+	}
 
 	public void miniServoEnable(MiniServoMId id, int enable) throws AppException {
 		logger.info("{} miniServoEnable {}", id.mid, enable);