update

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

@@ -14,10 +14,10 @@ public enum ExtApiTabConfig {
 	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),
+	ReactionPlatesTransmitControlerCalibration("校准.反应板相关位置校准", true),
 	TubeFeedingModulePosCalibration("校准.试管入料校准", true),
 	TubePreProcesPosCalibration("校准.试管预处理校准", true),
-	ReactionPlatesTransmitControlerCalibration("校准.反应板相关位置校准", true),
+	Hbot2DCodeScanPosCalibration("校准.耗材扫描校准", true),
 	HbotTipPosCalibration("校准.Tip耗材位置校准", true),
 	HbotLittleBottleConsumableCalibration("校准.小瓶耗材位置校准", true),
 	HbotLargeBottleBSPosCalibration("校准.大瓶BS耗材位置校准", true),

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

@@ -10,7 +10,7 @@ import a8k.service.app.devicectrl.driver.HbotDriver;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
 import a8k.service.app.devicectrl.param.HbotConsumableParamMgr;
-import a8k.service.app.devicectrl.param.HbotFixPosParamMgr;
+import a8k.service.app.devicectrl.param.HbotFixedPosParamMgr;
 import a8k.type.*;
 import a8k.type.cfg.Pos2d;
 import a8k.type.cfg.Pos3d;
@@ -45,7 +45,7 @@ public class HbotTipPosCalibration {
 	@Resource
 	HbotConsumableParamMgr hbotConsumableParamMgr;
 	@Resource
-	HbotFixPosParamMgr     hbotFixPosParamMgr;
+	HbotFixedPosParamMgr   hbotFixedPosParamMgr;
 
 	Boolean stopFlag = false;
 
@@ -204,7 +204,7 @@ public class HbotTipPosCalibration {
 	public void calibrateDropTipPos() throws AppException {
 		enableModule();
 		pipetteCtrlDriver.zMotorMeasureDistance();
-		hbotFixPosParamMgr.setDropTipPos(new Pos3d(hbotDriver.readPos().x, hbotDriver.readPos().y, pipetteCtrlDriver.zMotorReadMeasureDistanceResult()));
+		hbotFixedPosParamMgr.setDropTipPos(new Pos3d(hbotDriver.readPos().x, hbotDriver.readPos().y, pipetteCtrlDriver.zMotorReadMeasureDistanceResult()));
 		disableModule();
 	}
 

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

@@ -47,7 +47,7 @@ public class ReactionPlatesTransmitControlerCalibration {
 	@Resource
 	HbotCtrlService      hbotCtrlService;
 	@Resource
-	HbotFixPosParamMgr hbotFixPosParamMgr;
+	HbotFixedPosParamMgr hbotFixedPosParamMgr;
 
 	@Resource
 	MotorEnableExDriver motorEnableExDriver;
@@ -129,7 +129,7 @@ public class ReactionPlatesTransmitControlerCalibration {
 		enableModule();
 		pipetteCtrlDriver.zMotorMeasureDistance();
 		var pos = new Pos3d(hbotDriver.readPos().x, hbotDriver.readPos().y, pipetteCtrlDriver.zMotorReadMeasureDistanceResult());
-		hbotFixPosParamMgr.setDropLiquidPos(pos);
+		hbotFixedPosParamMgr.setDropLiquidPos(pos);
 		disableModule();
 		return pos;
 	}

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

@@ -7,12 +7,16 @@ import a8k.hardware.A8kCanBusService;
 import a8k.service.app.devicectrl.driver.MiniServoDriver;
 import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
 import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
+import a8k.service.app.devicectrl.exdriver.MotorMoveZeroExDriver;
 import a8k.service.app.devicectrl.exdriver.TubeTransportExDriver;
-import a8k.service.app.devicectrl.driver.type.MiniServoMId;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
 import a8k.service.app.devicectrl.ctrlservice.TubeTubeFeedingCtrlService;
 import a8k.service.app.devicectrl.param.TubeFeedingModuleParamMgr;
 import a8k.service.db.type.Parameter;
+import a8k.type.TubeFeedingModulePos;
+import a8k.type.TubeFeedingModuleSetting;
+import a8k.type.TubeHolderScanResult;
+import a8k.type.ecode.AppCodeError;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
@@ -34,29 +38,32 @@ public class TubeFeedingModulePosCalibration {
 	@Resource
 	TubeTransportExDriver      tubeTransportExDriver;
 	@Resource
-	MiniServoDriver       miniServoDriver;
-	@Resource
 	StepMotorCtrlDriver        stepMotorCtrlDriver;
 	@Resource
 	MotorEnableExDriver        motorEnableExDriver;
+	@Resource
+	MotorMoveZeroExDriver      motorMoveZeroExDriver;
 
-	private Integer readFeedingModXMPos() throws AppException {
-		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
-		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000);
-	}
 
-	@ExtApiFn(name = "获取所有坐标", group = "基础", order = 1)
-	public List<Parameter> getParams() throws AppException {
-		return tubeScanPosMgr.getParams();
+	@ExtApiFn(name = "获取相关设定值", group = "基础", order = 1)
+	public List<Parameter> getSettings() throws AppException {
+		return tubeScanPosMgr.getSettings();
 	}
 
+	@ExtApiFn(name = "获取相关坐标", group = "基础", order = 1)
+	public List<Parameter> getPoss() throws AppException {
+		return tubeScanPosMgr.getPoss();
+	}
 
-
-	//	测试工具
 	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
 	public void deviceReset() throws AppException {
 		enableModule();
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000);
+		motorMoveZeroExDriver.tubeFeeddingModuleMoveToZero();
+
+		//预处理归零
+		motorEnableExDriver.preProcessRelatedModuleEnable(true);
+		motorMoveZeroExDriver.preProcessModuleMoveToZero();
+		motorEnableExDriver.preProcessRelatedModuleEnable(false);
 	}
 
 	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
@@ -70,65 +77,75 @@ public class TubeFeedingModulePosCalibration {
 		motorEnableExDriver.preProcessRelatedModuleEnable(false);
 	}
 
-
-//
-//	@ExtApiFn(name = "<平移电机>设置当前位置为<入料位置>", group = "标定试管架位置", order = 21)
-//	public void setTubeHolderEnterXPos() throws AppException {
-//		tubeScanPosMgr.setTubeHolderEnterXPos(readFeedingModXMPos());
-//	}
-//
-//	@ExtApiFn(name = "<平移电机>设置当前位置为<出料位置>", group = "标定试管架位置", order = 22)
-//	public void setTubeHolderExitXPos() throws AppException {
-//		tubeScanPosMgr.setTubeHolderExitXPos(readFeedingModXMPos());
-//	}
-//
-//	@ExtApiFn(name = "<平移电机>设置当前位置为<试管架扫描位置>", group = "标定试管架位置", order = 23)
-//	public void setTubeHolderScanXPos() throws AppException {
-//		tubeScanPosMgr.setTubeHolderScanXPos(readFeedingModXMPos());
-//	}
 	//
-//	@ExtApiFn(name = "<平移电机>设置当前位置为<0号试管扫描位置>", group = "标定<试管>位置", order = 24)
-//	public void setTube0ScanXPos() throws AppException {
-//		tubeScanPosMgr.setTube0ScanXPos(readFeedingModXMPos());
-//	}
+	// 辅助方法
 	//
-//	@ExtApiFn(name = "<平移电机>设置当前位置为<0试管高度判断位置>", group = "标定<试管>位置", order = 25)
-//	public void setTube0AltitJudgXPos() throws AppException {
-//		tubeScanPosMgr.setTube0AltitJudgXPos(readFeedingModXMPos());
-//	}
+
+	private Integer readFeedingModXMPos() throws AppException {
+		stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
+		return stepMotorCtrlDriver.stepMotorReadPosByMoveToZeroBlock(StepMotorMId.FeedingModXM, 15000);
+	}
+
+
 	//
-//	@ExtApiFn(name = "<平移电机>设置当前位置为<0试管存在判断位置>", group = "标定<试管>位置", order = 26)
-//	public void setTube0ExistJudgXPos() throws AppException {
-//		tubeScanPosMgr.setTube0ExistJudgXPos(readFeedingModXMPos());
-//	}
+	//	设置
 	//
 
 
+	@ExtApiFn(name = "设置试管扫描旋转舵机扭矩(0->1000)", group = "设置", order = 200)
+	public void setTubeScanServoTorque(Integer val) throws AppException {
+		tubeScanPosMgr.setParam(TubeFeedingModuleSetting.TubeScanServoTorque, val);
+	}
+
+
+	Integer tube01pos;
+	Integer tube10pos;
+
+	@ExtApiFn(name = "标记当前位置为-试管1号位", group = "辅助设置试管间距", order = 201)
+	public Integer labelPosAsTube01Pos() throws AppException {
+		tube01pos = readFeedingModXMPos();
+		disableModule();
+		return tube01pos;
+	}
+
+	@ExtApiFn(name = "标记当前位置为-试管10号位", group = "辅助设置试管间距", order = 202)
+	public Integer labelPosAsTube10Pos() throws AppException {
+		tube10pos = readFeedingModXMPos();
+		disableModule();
+		return tube10pos;
+	}
 
+	@ExtApiFn(name = "计算并设置设置试管间距", group = "辅助设置试管间距", order = 203)
+	public Double setTubeSpacing() throws AppException {
+		if (tube01pos == null || tube10pos == null) {
+			throw new AppException(new AppCodeError("未标记试管1号位和10号位"));
+		}
+		Double spacing = (tube10pos - tube01pos) / 9.0;
+		tubeScanPosMgr.setParam(TubeFeedingModuleSetting.TubeSpacing, spacing);
+		return spacing;
+	}
 
 
-//	@ExtApiFn(name = "夹紧试管架", group = "校验", order = 31)
-//	public void scanClampModClamp() throws AppException {
-//		tubeTransportControler.scanClampModClamp();
-//	}
 	//
-//	@ExtApiFn(name = "释放试管架", group = "校验", order = 32)
-//	public void scanClampModRelease() throws AppException {
-//		tubeTransportControler.scanClampModRelease();
-//	}
+	//	标定坐标
 	//
-//	@ExtApiFn(name = "扫描试管架", group = "校验", order = 33)
-//	public TubeHolderScanResult scanAll() throws AppException {
-//		return tubeTubeFeedingModule.scanTubeHodler();
-//	}
+	@ExtApiFn(name = "标定位置", group = "标定", order = 300)
+	public void calibratePos(TubeFeedingModulePos posType) throws AppException {
+		tubeScanPosMgr.setParam(posType, readFeedingModXMPos());
+		disableModule();
+	}
+
 	//
-//	@ExtApiFn(name = "移动试管X到处理位", group = "校验", order = 33)
-//	public void moveTubeXToPreProcessPos(Integer xtube) throws AppException {
-//		tubeTubeFeedingModule.moveTubeToPreProcessPos(xtube);
-//	}
+	//	校验
 	//
-//	@ExtApiFn(name = "设置<试管扫描伺服力矩(100-1000)>", group = "其他", order = 41)
-//	public void setTubeScanServoTorque(Integer torque) throws AppException {
-//		tubeScanPosMgr.setTubeScanServoTorque(torque);
-//	}
+
+	@ExtApiFn(name = "扫描试管架", group = "校验", order = 400)
+	public TubeHolderScanResult calibrateScanTubeHolder() throws AppException {
+		return tubeTubeFeedingCtrlService.scanTubeHodler();
+	}
+
+	@ExtApiFn(name = "移动试管到预处理位置", group = "校验", order = 401)
+	public void calibrateMoveTubeToPreProcessPos(Integer tubeIndex0To9) throws AppException {
+		tubeTubeFeedingCtrlService.moveTubeToPreProcessPos(tubeIndex0To9);
+	}
 }

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

@@ -9,6 +9,7 @@ import a8k.service.app.devicectrl.driver.type.MiniServoMId;
 import a8k.service.app.devicectrl.driver.type.StepMotorMId;
 import a8k.service.app.devicectrl.ctrlservice.TubePreProcesCtrlService;
 import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
+import a8k.service.app.devicectrl.exdriver.MotorMoveZeroExDriver;
 import a8k.service.app.devicectrl.param.TubePreProcesPosParamMgr;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
@@ -31,19 +32,14 @@ public class TubePreProcesPosCalibration {
 	TubePreProcesCtrlService controler;
 	@Resource
 	MotorEnableExDriver      motorEnableExDriver;
+	@Resource
+	MotorMoveZeroExDriver    motorMoveZeroExDriver;
 
 	//基础工具
 	@ExtApiFn(name = "归零", group = "测试工具", order = 1)
 	public void deviceReset() throws AppException {
 		enableModule();
-		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
-		miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
-
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModShakeM, 90, overtime);
-		stepMotorCtrlDriver.stepMotorEasyMoveToBlock(StepMotorMId.ShakeModClampingM, posMgr.getShakeClampMotorReleasePos(), overtime);
+		motorMoveZeroExDriver.preProcessModuleMoveToZero();
 	}
 
 	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 2)
@@ -57,25 +53,17 @@ public class TubePreProcesPosCalibration {
 		motorEnableExDriver.tubeFeedRelatedModuleEnable(false);
 	}
 
-	//	@ExtApiFn(name = "读取夹爪当前位置", group = "测试工具", order = 4)
-	//	public Integer readGripperPos() throws AppException {
-	//		return miniServoControler.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
-	//	}
-
 	@ExtApiFn(name = "读取所有设定值", group = "测试工具", order = 5)
 	public TubePreProcesPosParamMgr getPoss() {
 		return posMgr;
 	}
 
-	//	@ExtApiFn()
-	//	GripperRedundancySpacingForTubeCap
 
-	@ExtApiFn(name = "设置夹爪试管盖冗余间距", group = "其他设置", order = 6)
+	@ExtApiFn(name = "设置夹爪试管盖冗余间距", group = "设置", order = 6)
 	public void setGripperRedundancySpacingForTubeCap(Integer value) {
 		posMgr.setGripperRedundancySpacingForTubeCap(value);
 	}
 
-
 	//
 	//	夹爪标定,校准,校验
 	//

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

@@ -5,7 +5,7 @@ import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.service.app.devicectrl.exdriver.HbotBaseMoveExDriver;
 import a8k.service.app.devicectrl.driver.PipetteCtrlDriver;
 import a8k.service.app.devicectrl.param.HbotConsumableParamMgr;
-import a8k.service.app.devicectrl.param.HbotFixPosParamMgr;
+import a8k.service.app.devicectrl.param.HbotFixedPosParamMgr;
 import a8k.service.app.devicectrl.param.HbotSamplePosParamMgr;
 import a8k.type.ConsumableGroup;
 import a8k.type.HbotSamplePos;
@@ -22,7 +22,7 @@ public class HbotCtrlService {
 	static Logger logger = LoggerFactory.getLogger(HbotCtrlService.class);
 
 	@Resource
-	HbotFixPosParamMgr     hbotFixPosParamMgr;
+	HbotFixedPosParamMgr  hbotFixedPosParamMgr;
 	@Resource
 	HbotSamplePosParamMgr hbotSamplePosParamMgr;
 	@Resource
@@ -73,12 +73,12 @@ public class HbotCtrlService {
 	}
 
 	public void dropTip() throws AppException {
-		hbotBaseMoveExDriver.hbotMoveTo(hbotFixPosParamMgr.getDropTipPos());
+		hbotBaseMoveExDriver.hbotMoveTo(hbotFixedPosParamMgr.getDropTipPos());
 		pipetteCtrlDriver.putTipBlock();
 	}
 
 	public void moveToDropLiquidPos() throws AppException {
-		hbotBaseMoveExDriver.hbotMoveTo(hbotFixPosParamMgr.getDropLiquidPos());
+		hbotBaseMoveExDriver.hbotMoveTo(hbotFixedPosParamMgr.getDropLiquidPos());
 	}
 
 	/**

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

@@ -247,7 +247,6 @@ public class TubePreProcesCtrlService {
 				tubePreProcesPosParamMgr.getZMotorShakeTubePos() + tubePreProcesPosParamMgr.getGripperRedundancySpacingForTubeCap(),
 				actionOvertime);
 
-
 		//释放试管
 		clampingMReleaseTube();
 		//Z轴上移动到零位

src/main/java/a8k/service/app/devicectrl/exdriver/MotorMoveZeroExDriver.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
+	}
+
+}

src/main/java/a8k/service/app/devicectrl/param/HbotFixPosParamMgr.java → src/main/java/a8k/service/app/devicectrl/param/HbotFixedPosParamMgr.java

@@ -20,9 +20,9 @@ import java.util.List;
  */
 @Component
 @ExtApiTab(cfg = ExtApiTabConfig.Hbot2DCodeScanPos)
-@ExtApiParamsTab(service = HbotFixPosParamMgr.class)
-public class HbotFixPosParamMgr {
-	static final Logger logger = LoggerFactory.getLogger(HbotFixPosParamMgr.class);
+@ExtApiParamsTab(service = HbotFixedPosParamMgr.class)
+public class HbotFixedPosParamMgr {
+	static final Logger logger = LoggerFactory.getLogger(HbotFixedPosParamMgr.class);
 
 	enum Pos {
 		DropTipPos("丢TIP位置"),

src/main/java/a8k/service/app/devicectrl/param/TubeFeedingModuleParamMgr.java

@@ -3,7 +3,8 @@ package a8k.service.app.devicectrl.param;
 import a8k.service.db.LowerDeviceParameterDBService;
 import a8k.service.db.type.Parameter;
 import a8k.service.db.utils.PosParameterReader;
-import a8k.type.TubeFeedingModuleParam;
+import a8k.type.TubeFeedingModuleSetting;
+import a8k.type.TubeFeedingModulePos;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@@ -26,102 +27,105 @@ public class TubeFeedingModuleParamMgr {
 	@PostConstruct
 	void initialize() {
 		posReader = lowerDeviceParameterDBService.getReader(this.getClass());
-		for (TubeFeedingModuleParam tubeFeedingModuleParam : TubeFeedingModuleParam.values()) {
-			posReader.setParamChName(tubeFeedingModuleParam, tubeFeedingModuleParam.chName);
+		for (TubeFeedingModulePos pos : TubeFeedingModulePos.values()) {
+			posReader.setParamChName(pos, pos.chName);
+		}
+		for (TubeFeedingModuleSetting param : TubeFeedingModuleSetting.values()) {
+			posReader.setParamChName(param, param.chName);
 		}
 	}
 
 
-	//		if (!nowParaVersion.equals(paraVersion)) {
-	//			logger.info("init param");
-	//			posReader.setParam(POS.TubeHolderEnterXPos, -46);
-	//			posReader.setParam(POS.TubeHolderExitXPos, 3975);
-	//			posReader.setParam(POS.TubeHolderScanXPos, 2202);
-	//			posReader.setParam(POS.Tube0ScanXPos, 505);
-	//			posReader.setParam(POS.Tube0AltitJudgXPos, 505);
-	//			posReader.setParam(POS.Tube0ExistJudgXPos, 300);
-	//			posReader.setParam(POS.Tube0PreProcessXPos, 1225);
-	//			posReader.setParam(POS.TubeScanServoTorque, 500);
-	//		}
+	public List<Parameter> getSettings() {
+		return posReader.getParams(TubeFeedingModuleSetting.values());
+	}
 
+	public List<Parameter> getPoss() {
+		return posReader.getParams(TubeFeedingModulePos.values());
+	}
 
-	public List<Parameter> getParams() {
-		return posReader.getParams();
+	public void setParam(TubeFeedingModulePos param, Object obj) {
+		posReader.setParam(param, obj);
 	}
 
-	public void setParam(TubeFeedingModuleParam param, Object obj) {
+	public void setParam(TubeFeedingModuleSetting param, Object obj) {
 		posReader.setParam(param, obj);
 	}
 
+	/**
+	 * 获取管子预处理位置
+	 * @param tubeIndex 管子序号
+	 * @return 坐标
+	 */
 	public Integer getTubePreProcessPos(Integer tubeIndex) {
-		Integer startPos = posReader.getPos(TubeFeedingModuleParam.Tube0PreProcessXPos, Integer.class);
-		Integer spacing  = posReader.getPos(TubeFeedingModuleParam.TubeSpacing, Integer.class);
-		return startPos + spacing * tubeIndex;
+		Integer startPos = posReader.getPos(TubeFeedingModulePos.Tube0PreProcessPos, Integer.class);
+		Double spacing  = posReader.getPos(TubeFeedingModuleSetting.TubeSpacing, Double.class);
+		return (int)(startPos + spacing * tubeIndex);
 	}
 
+	/**
+	 * 获取试管扫描位置
+	 * @param tubeIndex 管子序号
+	 * @return 坐标
+	 */
 	public Integer getTubeScanPos(Integer tubeIndex) {
-		Integer startPos = posReader.getPos(TubeFeedingModuleParam.Tube0ScanXPos, Integer.class);
-		Integer spacing  = posReader.getPos(TubeFeedingModuleParam.TubeSpacing, Integer.class);
-		return startPos + spacing * tubeIndex;
+		Integer startPos = posReader.getPos(TubeFeedingModulePos.Tube0ScanPos, Integer.class);
+		Double spacing  = posReader.getPos(TubeFeedingModuleSetting.TubeSpacing, Double.class);
+		return (int)(startPos + spacing * tubeIndex);
 	}
 
+	/**
+	 * 获取试管高度判断位置
+	 * @param tubeIndex 管子序号
+	 * @return 坐标
+	 */
 	public Integer getTubeAltitJudgPos(Integer tubeIndex) {
-		Integer startPos = posReader.getPos(TubeFeedingModuleParam.Tube0AltitJudgXPos, Integer.class);
-		Integer spacing  = posReader.getPos(TubeFeedingModuleParam.TubeSpacing, Integer.class);
-		return startPos + spacing * tubeIndex;
+		Integer startPos = posReader.getPos(TubeFeedingModulePos.Tube0AltitJudgPos, Integer.class);
+		Double spacing  = posReader.getPos(TubeFeedingModuleSetting.TubeSpacing, Double.class);
+		return (int)(startPos + spacing * tubeIndex);
 	}
 
+	/**
+	 * 获取试管存在判断位置
+	 * @param tubeIndex 管子序号
+	 * @return 坐标
+	 */
 	public Integer getTubeExistJudgPos(Integer tubeIndex) {
-		Integer startPos = posReader.getPos(TubeFeedingModuleParam.Tube0ExistJudgXPos, Integer.class);
-		Integer spacing  = posReader.getPos(TubeFeedingModuleParam.TubeSpacing, Integer.class);
-		return startPos + spacing * tubeIndex;
+		Integer startPos = posReader.getPos(TubeFeedingModulePos.Tube0ExistJudgPos, Integer.class);
+		Double spacing  = posReader.getPos(TubeFeedingModuleSetting.TubeSpacing, Double.class);
+		return (int)(startPos + spacing * tubeIndex);
 	}
 
 
+	/**
+	 * 获取试管架进入位置
+	 * @return X轴坐标
+	 */
 	public Integer getTubeHolderEnterXPos() {
-		return posReader.getPos(TubeFeedingModuleParam.TubeHolderEnterXPos, Integer.class);
+		return posReader.getPos(TubeFeedingModulePos.TubeHolderEnterXPos, Integer.class);
 	}
 
+	/**
+	 * 获取试管架出口位置
+	 * @return X轴坐标
+	 */
 	public Integer getTubeHolderExitXPos() {
-		return posReader.getPos(TubeFeedingModuleParam.TubeHolderExitXPos, Integer.class);
+		return posReader.getPos(TubeFeedingModulePos.TubeHolderExitXPos, Integer.class);
 	}
 
+	/**
+	 * 获取试管架扫描位置
+	 * @return X轴坐标
+	 */
 	public Integer getTubeHolderScanXPos() {
-		return posReader.getPos(TubeFeedingModuleParam.TubeHolderScanXPos, Integer.class);
+		return posReader.getPos(TubeFeedingModulePos.TubeHolderScanXPos, Integer.class);
 	}
 
+	/**
+	 * 获取试管架扫描位置
+	 * @return X轴坐标
+	 */
 	public Integer getTubeScanServoTorque() {
-		return posReader.getPos(TubeFeedingModuleParam.TubeScanServoTorque, Integer.class);
-	}
-
-	//	public void setTube0PreProcessXPos(Integer value) {posReader.setParam(TubeFeedingModuleParam.Tube0PreProcessXPos, value);}
-	//
-	//	public void setTubeHolderEnterXPos(Integer value) {
-	//		posReader.setParam(TubeFeedingModuleParam.TubeHolderEnterXPos, value);
-	//	}
-	//
-	//	public void setTubeHolderExitXPos(Integer value) {
-	//		posReader.setParam(TubeFeedingModuleParam.TubeHolderExitXPos, value);
-	//	}
-	//
-	//	public void setTubeHolderScanXPos(Integer value) {
-	//		posReader.setParam(TubeFeedingModuleParam.TubeHolderScanXPos, value);
-	//	}
-	//
-	//	public void setTube0ScanXPos(Integer value) {
-	//		posReader.setParam(TubeFeedingModuleParam.Tube0ScanXPos, value);
-	//	}
-	//
-	//	public void setTube0AltitJudgXPos(Integer value) {
-	//		posReader.setParam(TubeFeedingModuleParam.Tube0AltitJudgXPos, value);
-	//	}
-	//
-	//	public void setTube0ExistJudgXPos(Integer value) {
-	//		posReader.setParam(TubeFeedingModuleParam.Tube0ExistJudgXPos, value);
-	//	}
-	//
-	//	public void setTubeScanServoTorque(Integer value) {
-	//		posReader.setParam(TubeFeedingModuleParam.TubeScanServoTorque, value);
-	//	}
-
+		return posReader.getPos(TubeFeedingModuleSetting.TubeScanServoTorque, Integer.class);
+	}
 }

src/main/java/a8k/service/app/devicectrl/param/TubePreProcesPosParamMgr.java

@@ -24,7 +24,7 @@ public class TubePreProcesPosParamMgr {
 		ShakeClampMotorClampPos("试管夹紧位"),//
 		ShakeClampMotorReleasePos("摇匀臂"),//
 
-		GripperRedundancySpacingForTubeCap("夹爪试管帽冗余间距"),//
+		GripperRedundancySpacingForTubeCap("夹爪试管帽垂直冗余"),//
 		;
 		public final String chName;
 

src/main/java/a8k/service/db/utils/PosParameterReader.java

@@ -3,6 +3,7 @@ package a8k.service.db.utils;
 import a8k.service.db.LowerDeviceParameterDBService;
 import a8k.service.db.type.Parameter;
 
+import java.util.ArrayList;
 import java.util.List;
 
 public class PosParameterReader {
@@ -48,9 +49,16 @@ public class PosParameterReader {
 	}
 
 
-
-
 	public List<Parameter> getParams() {
 		return lowerDeviceParameterDBService.getParams(service.getSimpleName());
 	}
+
+	public List<Parameter> getParams(Enum<?>[] etable) {
+		List<Parameter> parameters = new ArrayList<>();
+		for (Enum<?> e : etable) {
+			Parameter parameter = lowerDeviceParameterDBService.getParam(service.getSimpleName(), e.name());
+			parameters.add(parameter);
+		}
+		return parameters;
+	}
 }

src/main/java/a8k/type/TubeFeedingModuleParam.java

@@ -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;
-	}
-}

src/main/java/a8k/type/TubeFeedingModulePos.java

@@ -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;
+	}
+}

src/main/java/a8k/type/TubeFeedingModuleSetting.java

@@ -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;
+	}
+}