17 changed files with 357 additions and 279 deletions
-
BINapp.db
-
4src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java
-
6src/main/java/a8k/service/app/devicectrl/calibration/HbotTipPosCalibration.java
-
6src/main/java/a8k/service/app/devicectrl/calibration/ReactionPlatesTransmitControlerCalibration.java
-
167src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
-
22src/main/java/a8k/service/app/devicectrl/calibration/TubePreProcesPosCalibration.java
-
10src/main/java/a8k/service/app/devicectrl/ctrlservice/HbotCtrlService.java
-
11src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
-
52src/main/java/a8k/service/app/devicectrl/exdriver/MotorMoveZeroExDriver.java
-
6src/main/java/a8k/service/app/devicectrl/param/HbotFixedPosParamMgr.java
-
132src/main/java/a8k/service/app/devicectrl/param/TubeFeedingModuleParamMgr.java
-
2src/main/java/a8k/service/app/devicectrl/param/TubePreProcesPosParamMgr.java
-
12src/main/java/a8k/service/db/utils/PosParameterReader.java
-
19src/main/java/a8k/type/TubeFeedingModuleParam.java
-
17src/main/java/a8k/type/TubeFeedingModulePos.java
-
12src/main/java/a8k/type/TubeFeedingModuleSetting.java
@ -0,0 +1,52 @@ |
|||||
|
package a8k.service.app.devicectrl.exdriver; |
||||
|
|
||||
|
import a8k.hardware.A8kCanBusService; |
||||
|
import a8k.service.app.devicectrl.driver.HbotDriver; |
||||
|
import a8k.service.app.devicectrl.driver.MiniServoDriver; |
||||
|
import a8k.service.app.devicectrl.driver.PipetteCtrlDriver; |
||||
|
import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver; |
||||
|
import a8k.service.app.devicectrl.driver.type.MiniServoMId; |
||||
|
import a8k.service.app.devicectrl.driver.type.StepMotorMId; |
||||
|
import a8k.service.app.devicectrl.param.TubePreProcesPosParamMgr; |
||||
|
import a8k.type.exception.AppException; |
||||
|
import jakarta.annotation.Resource; |
||||
|
import org.springframework.stereotype.Component; |
||||
|
|
||||
|
@Component |
||||
|
public class MotorMoveZeroExDriver { |
||||
|
@Resource |
||||
|
A8kCanBusService canBus; |
||||
|
@Resource |
||||
|
HbotDriver hbotDriver; |
||||
|
@Resource |
||||
|
PipetteCtrlDriver pipetteCtrlDriver; |
||||
|
@Resource |
||||
|
StepMotorCtrlDriver stepMotorCtrlDriver; |
||||
|
@Resource |
||||
|
MiniServoDriver miniServoDriver; |
||||
|
@Resource |
||||
|
TubePreProcesPosParamMgr tubePreProcesPosParamMgr; |
||||
|
|
||||
|
|
||||
|
/** |
||||
|
* 入料模块归零 |
||||
|
* @throws AppException e |
||||
|
*/ |
||||
|
public void tubeFeeddingModuleMoveToZero() throws AppException { |
||||
|
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000); |
||||
|
} |
||||
|
|
||||
|
/** |
||||
|
* 预处理模块归零 |
||||
|
* @throws AppException e |
||||
|
*/ |
||||
|
public void preProcessModuleMoveToZero() throws AppException { |
||||
|
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, 5000); |
||||
|
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV); |
||||
|
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV); |
||||
|
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, 5000); |
||||
|
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, 5000); |
||||
|
// move to default pos |
||||
|
} |
||||
|
|
||||
|
} |
@ -1,19 +0,0 @@ |
|||||
package a8k.type; |
|
||||
|
|
||||
public enum TubeFeedingModuleParam { |
|
||||
TubeHolderEnterXPos("入料位置"), // |
|
||||
TubeHolderExitXPos("出料位置"), // |
|
||||
TubeHolderScanXPos("试管架扫描位置"), // |
|
||||
Tube0ScanXPos("01号试管扫描位置"), // |
|
||||
Tube0AltitJudgXPos("01试管高度判断位置"), // |
|
||||
Tube0ExistJudgXPos("01试管存在判断位置"), // |
|
||||
Tube0PreProcessXPos("01试管预处理位置"), // |
|
||||
TubeScanServoTorque("试管扫描伺服力矩"), // |
|
||||
TubeSpacing("试管间距"), // |
|
||||
; |
|
||||
public final String chName; |
|
||||
|
|
||||
TubeFeedingModuleParam(String chName) { |
|
||||
this.chName = chName; |
|
||||
} |
|
||||
} |
|
@ -0,0 +1,17 @@ |
|||||
|
package a8k.type; |
||||
|
|
||||
|
public enum TubeFeedingModulePos { |
||||
|
TubeHolderEnterXPos("入料位置"), // |
||||
|
TubeHolderExitXPos("出料位置"), // |
||||
|
TubeHolderScanXPos("试管架扫描位置"), // |
||||
|
Tube0ScanPos("01号试管扫描位置"), // |
||||
|
Tube0AltitJudgPos("01试管高度判断位置"), // |
||||
|
Tube0ExistJudgPos("01试管存在判断位置"), // |
||||
|
Tube0PreProcessPos("01试管预处理位置"), // |
||||
|
; |
||||
|
public final String chName; |
||||
|
|
||||
|
TubeFeedingModulePos(String chName) { |
||||
|
this.chName = chName; |
||||
|
} |
||||
|
} |
@ -0,0 +1,12 @@ |
|||||
|
package a8k.type; |
||||
|
|
||||
|
public enum TubeFeedingModuleSetting { |
||||
|
TubeScanServoTorque("试管扫描伺服力矩"), // |
||||
|
TubeSpacing("试管间距"), // |
||||
|
; |
||||
|
public final String chName; |
||||
|
|
||||
|
TubeFeedingModuleSetting(String chName) { |
||||
|
this.chName = chName; |
||||
|
} |
||||
|
} |
Write
Preview
Loading…
Cancel
Save
Reference in new issue