update

README.md

@@ -38,6 +38,10 @@
           
 TODO:
         1.想办法解决  
+        
+4:号仓位退不出
+14
+
 
 ```
 

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

@@ -70,6 +70,18 @@ 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_irun, 31);
+
+		canBus.moduleSetReg(MId.PlatesBoxYM, RegIndex.kreg_step_motor_default_velocity, 1500);
+		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/A8kEcode.java

@@ -27,6 +27,7 @@ public enum A8kEcode {
 	TubeXChannelIsNotEmpty(21, "试管架平移通道不为空"),//
 	TubeTypeNotSupport(22, "试管类型不支持"),//
 	CmdIdNotSupport(23, "不支持指令"),//
+	PullPlateFail(24, "钩板卡板"),//
 	//
 	//	FOR HARDWARE
 	//

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

@@ -28,7 +28,7 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "动作超时时间", group = "基础参数")
 	public Integer getActionOvertime() {
-		return hpReader.getInteger("actionOvertime", 10000);
+		return hpReader.getInteger("actionOvertime", 7000);
 	}
 
 	@HardwareServiceParam(name = "板夹仓通道0位置", group = "板夹仓参数")
@@ -62,7 +62,7 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "仓位0出板位置", group = "转盘参数")
 	public Integer getTurntablePullPos0() {
-		return hpReader.getInteger("TurntablePullPos0", 1650 + 18000);
+		return hpReader.getInteger("TurntablePullPos0", 19700);
 	}
 
 	@HardwareServiceParam(name = "仓位0点滴位", group = "转盘参数")
@@ -89,7 +89,7 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceParam(name = "扫描待机位", group = "光学模组参数")
 	public Integer getOptScanScandbyPos() {
-		return hpReader.getInteger("OptScanScandbyPos", 580);
+		return hpReader.getInteger("OptScanScandbyPos", 305);
 	}
 
 	/**
@@ -247,12 +247,24 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		return AppRet.success(canBus.plateCodeScannerReadCode(MId.PlatesBoxScanner));
 	}
 
+	public void pushPlateQuick(PlateBoxCh PBCh, IncubatorPos turntablePosIndex) throws HardwareException, InterruptedException {
+		trunableMoveToPushPos(turntablePosIndex);
+		canBus.stepMotorEasyMoveToBlock(MId.PlatesBoxYM, getPBCh0Pos() + PBCh.off * getPBChSpacing(), getActionOvertime());
+		canBus.stepMotorEasyMoveToBlock(MId.PlatesBoxPusherM, getPusherEndPos(), getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxPusherM, getActionOvertime());
+		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxYM, getActionOvertime());
+	}
+
 
 	@HardwareServiceAction(name = "拉板", group = "单步操作")
 	public void pullPlate(IncubatorPos turntablePosIndex) throws HardwareException, InterruptedException {
 		trunableMoveToPullPos(turntablePosIndex);
 		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getOptScanScandbyPos(), getActionOvertime());
 		canBus.stepMotorEasyMoveToBlock(MId.OptModPullM, getPullerTargetPos(), getActionOvertime());
+		if (!canBus.getIOState(IOId.PullerMEndPPS)) {
+			logger.error("pull plate fail");
+			throw new HardwareException(A8kEcode.PullPlateFail);
+		}
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModPullM, getActionOvertime());
 	}
 
@@ -263,29 +275,33 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getOptScanScandbyPos(), getActionOvertime());
 	}
 
-	private Boolean breakDropAllPlateFlag = false;
+	Boolean pushAllPlateAndDropBreakFlag = false;
 
-	@HardwareServiceAction(name = "丢弃全部板", group = "测试")
-	public void dropAllPlate() throws HardwareException, InterruptedException {
-		breakDropAllPlateFlag = false;
+	@HardwareServiceAction(name = "推全部板同时丢弃", group = "位置测试")
+	public void pushAllPlateAndDrop(PlateBoxCh PBCh, IncubatorPos startPos) throws HardwareException, InterruptedException {
+		pushAllPlateAndDropBreakFlag = false;
 		checkBeforeMoveTrunable();
 		checkBeforeMovePlateBox();
 		modGroupMoveToZeroQuick();
+		dropPlate();
 		for (IncubatorPos index : IncubatorPos.values()) {
+			if (index.compareTo(startPos) < 0) {
+				continue;
+			}
+			pushPlateQuick(PBCh, index);
+			if (pushAllPlateAndDropBreakFlag) {break;}
 			pullPlate(index);
+			if (pushAllPlateAndDropBreakFlag) {break;}
 			dropPlate();
-			if (breakDropAllPlateFlag) {
-				break;
-			}
+			if (pushAllPlateAndDropBreakFlag) {break;}
 		}
 	}
 
-	@HardwareServiceAction(name = "打断-丢弃全部板", group = "测试")
-	public void breakDropAllPlate() throws HardwareException, InterruptedException {
-		breakDropAllPlateFlag = true;
+	@HardwareServiceAction(name = "推全部板同时丢弃中断", group = "位置测试")
+	public void pushAllPlateAndDropBreak() {
+		pushAllPlateAndDropBreakFlag = true;
 	}
 
-
 	@HardwareServiceAction(name = "显示板夹扫码原始曲线", group = "辅助调试")
 	public AppRet<A8kScanCurve> readPlateScanCurve() throws HardwareException, InterruptedException {
 		List<Integer> scanDataCurve = canBus.plateCodeScanerReadRawResult(MId.PlatesBoxScanner);