update

src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java

@@ -150,6 +150,9 @@ public class A8kSubModuleInitRegConfig {
 		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_enc_resolution);
 		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_enable_enc);
 		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_dzero);
+		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_pos_devi_tolerance);
+		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_io_trigger_append_distance);
+		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_mres);
 
 		addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_t_pos_offset);
 		addRegMarker(ModuleType.A8kOptical, RegIndex.kreg_a8k_opt_f_pos_offset);

src/main/java/a8k/app/constant/GearBacklashConstant.java

@@ -0,0 +1,5 @@
+package a8k.app.constant;
+
+public class GearBacklashConstant {
+	public static Integer HBOT_GEAR_BACKLASH = 100;//1mm
+}

src/main/java/a8k/app/hardware/type/PipetteRegIndex.java

@@ -12,18 +12,18 @@ public enum PipetteRegIndex {
 	kreg_pipette_capactitance_val(RegIndex.kreg_pipette_capactitance_val), // 移液枪电容值
 	kreg_pipette_tip_state(RegIndex.kreg_pipette_tip_state), // 移动液枪tip状态
 
-//	kreg_pipette_limit_ul(RegIndex.kreg_pipette_limit_ul), //
-//	kreg_pipette_pump_acc(RegIndex.kreg_pipette_pump_acc), //
-//	kreg_pipette_pump_dec(RegIndex.kreg_pipette_pump_dec), //
-//	kreg_pipette_pump_vstart(RegIndex.kreg_pipette_pump_vstart), //
-//	kreg_pipette_pump_vstop(RegIndex.kreg_pipette_pump_vstop), //
-//	kreg_pipette_pump_vmax(RegIndex.kreg_pipette_pump_vmax), //
-//	kreg_pipette_aspirate_distribut_pump_vel(RegIndex.kreg_pipette_aspirate_distribut_pump_vel), //
-//	kreg_pipette_lld_pump_vel(RegIndex.kreg_pipette_lld_pump_vel), //
-//	kreg_pipette_lld_motor_vel_rpm(RegIndex.kreg_pipette_lld_motor_vel_rpm), //
-//	kreg_pipette_lld_detect_period_ms(RegIndex.kreg_pipette_lld_detect_period_ms), //
-//	kreg_pipette_lld_prepare_pos(RegIndex.kreg_pipette_lld_prepare_pos), //
-//	kreg_pipette_lld_prepare_distribut_pos(RegIndex.kreg_pipette_lld_prepare_distribut_pos), //
+	//	kreg_pipette_limit_ul(RegIndex.kreg_pipette_limit_ul), //
+	//	kreg_pipette_pump_acc(RegIndex.kreg_pipette_pump_acc), //
+	//	kreg_pipette_pump_dec(RegIndex.kreg_pipette_pump_dec), //
+	//	kreg_pipette_pump_vstart(RegIndex.kreg_pipette_pump_vstart), //
+	//	kreg_pipette_pump_vstop(RegIndex.kreg_pipette_pump_vstop), //
+	//	kreg_pipette_pump_vmax(RegIndex.kreg_pipette_pump_vmax), //
+	//	kreg_pipette_aspirate_distribut_pump_vel(RegIndex.kreg_pipette_aspirate_distribut_pump_vel), //
+	//	kreg_pipette_lld_pump_vel(RegIndex.kreg_pipette_lld_pump_vel), //
+	//	kreg_pipette_lld_motor_vel_rpm(RegIndex.kreg_pipette_lld_motor_vel_rpm), //
+	//	kreg_pipette_lld_detect_period_ms(RegIndex.kreg_pipette_lld_detect_period_ms), //
+	//	kreg_pipette_lld_prepare_pos(RegIndex.kreg_pipette_lld_prepare_pos), //
+	//	kreg_pipette_lld_prepare_distribut_pos(RegIndex.kreg_pipette_lld_prepare_distribut_pos), //
 
 	kreg_pipette_zm_pos(RegIndex.kreg_pipette_zm_pos),
 	kreg_pipette_zm_is_enable(RegIndex.kreg_pipette_zm_is_enable),
@@ -54,7 +54,10 @@ public enum PipetteRegIndex {
 	kreg_pipette_zm_enable_enc(RegIndex.kreg_pipette_zm_enable_enc),
 	kreg_pipette_zm_dzero(RegIndex.kreg_pipette_zm_dzero),
 	kreg_pipette_zm_pos_devi_tolerance(RegIndex.kreg_pipette_zm_pos_devi_tolerance),
-	kreg_pipette_zm_io_trigger_append_distance(RegIndex.kreg_pipette_zm_io_trigger_append_distance);
+	kreg_pipette_zm_io_trigger_append_distance(RegIndex.kreg_pipette_zm_io_trigger_append_distance),
+	kreg_pipette_zm_mres(RegIndex.kreg_pipette_zm_mres),
+	kreg_pipette_zm_encpos(RegIndex.kreg_pipette_zm_encpos),
+	;
 
 	public final RegIndex regIndex;
 

src/main/java/a8k/app/hardware/type/RegIndex.java

@@ -71,7 +71,9 @@ public enum RegIndex {
 	kreg_pipette_zm_dzero(4129),
 	kreg_pipette_zm_pos_devi_tolerance(4130),
 	kreg_pipette_zm_io_trigger_append_distance(4131),
-
+	kreg_pipette_zm_has_move_zero(4132), // 是否回零
+	kreg_pipette_zm_mres(4133), // 电机细分
+	kreg_pipette_zm_encpos(4134), // 编码器位置,readonly
 	/**
 	 *  光学模组
 	 *

src/main/java/a8k/app/service/lowerctrl/HbotMoveCtrlService.java

@@ -1,5 +1,6 @@
 package a8k.app.service.lowerctrl;
 
+import a8k.app.constant.GearBacklashConstant;
 import a8k.app.type.a8k.Pos2d;
 import a8k.app.type.a8k.Pos3d;
 import a8k.app.hardware.driver.InputDetectDriver;
@@ -73,8 +74,7 @@ public class HbotMoveCtrlService {
 
 		// HBot移动
 		hbotDriver.enable(1);
-		//	hbotDrive
-		//	r.moveToBlock(targetPos.x - 20, targetPos.y - 20);
+		hbotDriver.moveToBlock(targetPos.x - GearBacklashConstant.HBOT_GEAR_BACKLASH, targetPos.y);
 		hbotDriver.moveToBlock(targetPos.x, targetPos.y);
 		//		hbotDriver.moveToBlock(targetPos.x, targetPos.y);
 

src/main/java/a8k/app/service/lowerctrl/HbotMoveExCtrlService.java

@@ -61,6 +61,23 @@ public class HbotMoveExCtrlService {
 		pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
 	}
 
+	public void zAxisMoveToBlock(Integer z) throws AppException {
+		pipetteCtrlDriver.zMotorMoveToBlock(z);
+	}
+
+	public void zAxisMotorMoveToZeroPointQuickBlock() throws AppException {
+		pipetteCtrlDriver.zMotorMoveToZeroPointQuickBlock();
+	}
+
+	public void zAxisMoveToZeroPointBlock() throws AppException {
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+	}
+
+	public void initializePipette() throws AppException {
+		log.info("initializePipette");
+		pipetteCtrlDriver.pipetteInitDeviceBlock();
+	}
+
 
 	//检查当前位置TIP是否存在
 	//  通过取tip然后再原地放回来来判断

src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java

@@ -92,7 +92,7 @@ public class ExtApiPageGroupCfgMgr {
 								new Menu(ProjInfoMgrPage.class, "项目信息管理"),
 								new Menu(ReactionRecordMgrDebugPage.class, "反应记录")
 						)),
-						new Menu(A8kSubModuleParameterInitDebugPage.class,"子模块初始化参数"),
+						new Menu(A8kSubModuleParameterInitDebugPage.class, "子模块初始化参数"),
 						new Menu("坐标设置", ZList.of(
 								new Menu(DeviceActionParameterSettingPage.class, "设备动作参数设置"),
 								new Menu(P02TubeFeedingModulePosCalibrationPage.class, "试管入料设置"),
@@ -120,11 +120,13 @@ public class ExtApiPageGroupCfgMgr {
 		pushMenu(new Menu("子模块管理", ZList.of(
 				new Menu(LowLevelBoardVersionPreviewPage.class, "子模块版本查看"),
 				new Menu(PipetteCtrlDriverPage.getPageClass(), "移液抢驱动"),
+				new Menu(PipetteMotorCtrlPage.class, "移液抢电机驱动控制"),
+
 				new Menu(MotorCtrlPage.class, "电机驱动"),
 				new Menu(MiniServoCtrlPage.class, "伺服电机驱动"),
 				new Menu(InputIOStateScannerPage.class, "输入IO状态查看"),
 				new Menu(CodeScanerDriverCtrlPage.class, "条码扫描仪")
-				)));
+		)));
 
 
 		pushMenu(new Menu("高级应用", ZList.of(

src/main/java/a8k/extui/page/measurement/HbotPosMeasurePage.java

@@ -1,5 +1,6 @@
 package a8k.extui.page.measurement;
 
+import a8k.app.constant.GearBacklashConstant;
 import a8k.app.type.a8k.Pos2d;
 import a8k.app.type.a8k.Pos3d;
 import a8k.app.type.exception.AppException;
@@ -11,21 +12,19 @@ import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.extui.type.ExtApiStatu;
 import jakarta.annotation.PostConstruct;
 import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
 @Component
+@Slf4j
+@RequiredArgsConstructor
 public class HbotPosMeasurePage {
-	@Resource
-	ExtApiPageMgr extApiPageMgr;
 
-	@Resource
-	HbotDriver hbotDriver;
 
-	@Resource
-	HbotMoveCtrlService hbotMoveCtrlService;
-
-	@Resource
-	PipetteCtrlDriver pipetteCtrlDriver;
+	private final ExtApiPageMgr     extApiPageMgr;
+	private final HbotDriver        hbotDriver;
+	private final PipetteCtrlDriver pipetteCtrlDriver;
 
 	@ExtApiStatu(group = "Hbot当前坐标")
 	public Pos3d readPos() throws AppException {
@@ -55,12 +54,14 @@ public class HbotPosMeasurePage {
 		Pos2d pos = hbotDriver.readPos();
 		pos.x += dx;
 		pos.y += dy;
+		hbotDriver.moveToBlock(pos.x - GearBacklashConstant.HBOT_GEAR_BACKLASH, pos.y);
 		hbotDriver.moveToBlock(pos.x, pos.y);
 	}
 
 	public void moveTo(Integer x, Integer y) throws AppException {
 		hbotDriver.enable(1);
 		pipetteCtrlDriver.zMotorEnable(1);
+		hbotDriver.moveToBlock(x - GearBacklashConstant.HBOT_GEAR_BACKLASH, y);
 		hbotDriver.moveToBlock(x, y);
 	}
 
@@ -114,8 +115,6 @@ public class HbotPosMeasurePage {
 	}
 
 
-
-
 	public Pos3d measurementCurrentPos() throws AppException {
 		pipetteCtrlDriver.zMotorMeasureDistance();
 		Pos3d pos = new Pos3d();
@@ -129,22 +128,11 @@ public class HbotPosMeasurePage {
 		hbotDriver.enable(1);
 		pipetteCtrlDriver.zMotorEnable(1);
 		pipetteCtrlDriver.zMotorMoveToBlock(0);
+		hbotDriver.moveToBlock(x - GearBacklashConstant.HBOT_GEAR_BACKLASH, y);
 		hbotDriver.moveToBlock(x, y);
 		pipetteCtrlDriver.zMotorMoveToBlock(z);
 	}
 
-	public void measurementMoveTo0(Integer x, Integer y, Integer z) throws AppException {
-		measurementMoveTo(x, y, z);
-	}
-
-	public void measurementMoveTo1(Integer x, Integer y, Integer z) throws AppException {
-		measurementMoveTo(x, y, z);
-	}
-
-	public void measurementMoveTo2(Integer x, Integer y, Integer z) throws AppException {
-		measurementMoveTo(x, y, z);
-	}
-
 
 	@PostConstruct
 	public void init() {
@@ -168,10 +156,9 @@ public class HbotPosMeasurePage {
 		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z", 0);
 
 		page.newGroup("移动到");
-		page.addFunction("移动到", this::measurementMoveTo0);
-		page.addFunction("移动到", this::measurementMoveTo1);
-		page.addFunction("移动到", this::measurementMoveTo2);
-
+		page.addFunction("移动到", this::measurementMoveTo);
+		page.addFunction("移动到", this::measurementMoveTo);
+		page.addFunction("移动到", this::measurementMoveTo);
 
 		extApiPageMgr.addPage(page);
 	}

src/main/java/a8k/extui/page/test/driver/PipetteCtrlDriverPage.java

@@ -23,14 +23,7 @@ public class PipetteCtrlDriverPage {
 	@PostConstruct
 	void init() {
 		ExtUIPageCfg page = new ExtUIPageCfg(pipetteCtrlDriver);
-		page.addFunction("z轴电机使能", pipetteCtrlDriver::zMotorEnable);
 		page.addFunction("模块停止", pipetteCtrlDriver::moduleStop);
-		page.addFunction("z轴电机归零", pipetteCtrlDriver::zMotorMoveZeroBlock);
-		page.addFunction("z轴电机快速归零", pipetteCtrlDriver::zMotorMoveToZeroPointQuickBlock);
-		page.addFunction("z轴电机相对移动", pipetteCtrlDriver::zMotorMoveByBlock);
-		page.addFunction("z轴电机绝对移动", pipetteCtrlDriver::zMotorMoveToBlock);
-		page.addFunction("z轴电机测量距离", pipetteCtrlDriver::zMotorMeasureDistance);
-		page.addFunction("z轴电机读取测量距离结果", pipetteCtrlDriver::zMotorReadMeasureDistanceResult);
 		page.addFunction("移动液枪初始化设备", pipetteCtrlDriver::pipetteInitDeviceBlock);
 		page.addFunction("放置吸头", pipetteCtrlDriver::putTipBlock);
 		page.addFunction("LLD.获取传感器采样数据", pipetteCtrlDriver::getSensorSampleData);

src/main/java/a8k/extui/page/test/driver/PipetteMotorCtrlPage.java

@@ -0,0 +1,188 @@
+package a8k.extui.page.test.driver;
+
+import a8k.app.hardware.driver.PipetteCtrlDriver;
+import a8k.app.hardware.driver.StepMotorCtrlDriver;
+import a8k.app.hardware.type.PipetteRegIndex;
+import a8k.app.hardware.type.StepMotorMId;
+import a8k.app.hardware.type.PipetteRegIndex;
+import a8k.app.type.exception.AppException;
+import a8k.app.utils.ZJsonNode;
+import a8k.extui.mgr.ExtApiPageMgr;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+@Component
+@RequiredArgsConstructor
+@Slf4j
+public class PipetteMotorCtrlPage {
+	private final PipetteCtrlDriver pipetteCtrlDriver;
+
+	private final ExtApiPageMgr extApiPageMgr;
+
+	Integer dpos = 10;
+
+
+	public void setStepMotorDpos(Integer dpos) {
+		this.dpos = dpos;
+	}
+
+	//
+
+	public void enableMotor() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(1);
+	}
+
+	public void disableMotor() throws AppException {
+		pipetteCtrlDriver.zMotorEnable(0);
+	}
+
+
+	public void stepMotorEasyMoveToZero() throws AppException {
+		pipetteCtrlDriver.zMotorMoveZeroBlock();
+	}
+
+	public void stepMotorStop() throws AppException {
+		pipetteCtrlDriver.moduleStop();
+	}
+
+	public void stepMotorEasyMoveForward() throws AppException {
+		pipetteCtrlDriver.zMotorMoveByBlock(dpos);
+	}
+
+	public void stepMotorEasyMoveBackward() throws AppException {
+		pipetteCtrlDriver.zMotorMoveByBlock(-dpos);
+	}
+
+	public void stepMotorEasyMoveTo(Integer pos) throws AppException {
+		log.info("stepMotorEasyMoveTo: {}", pos);
+		pipetteCtrlDriver.zMotorMoveToBlock(pos);
+	}
+
+
+	public Integer readPos() throws AppException {
+		return pipetteCtrlDriver.getReg(PipetteRegIndex.kreg_pipette_zm_pos);
+	}
+
+	public Integer readEncPos() throws AppException {
+		return pipetteCtrlDriver.getReg(PipetteRegIndex.kreg_pipette_zm_encpos);
+	}
+
+
+	public Object readAllRegs() throws AppException {
+		ZJsonNode node = new ZJsonNode();
+		for (PipetteRegIndex reg : PipetteRegIndex.values()) {
+			try {
+				Integer val = pipetteCtrlDriver.getReg(reg);
+				node.get(reg.name()).set(val);
+			} catch (AppException e) {
+				node.get(reg.name()).set(e.getError().code);
+			}
+
+		}
+		return node.get();
+	}
+
+	public void setReg(PipetteRegIndex reg, Integer val) throws AppException {
+		pipetteCtrlDriver.setReg(reg, val);
+	}
+
+	public void setMres(Integer mres) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_mres, mres);
+	}
+
+	public void setStartAndStopVel(Integer v) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_vstart, v);
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_vstop, v);
+	}
+
+	public void setV1(Integer v) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_v1, v);
+	}
+
+	public void setA1AndD1(Integer acc) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_a1, acc);
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_d1, acc);
+	}
+
+	public void setAmaxAndDmax(Integer acc) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_amax, acc);
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_dmax, acc);
+	}
+
+	public void setDefaultVel(Integer v) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_default_velocity, v);
+	}
+
+
+	public void setIRUN(Integer irun) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_irun, irun);
+	}
+
+	public void setIHOLD(Integer ihold) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_ihold, ihold);
+	}
+
+	public void setOneCirclePulse(Integer pulse, Integer denominator) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_one_circle_pulse, pulse);
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_one_circle_pulse_denominator, denominator);
+	}
+
+	public Integer readReg(PipetteRegIndex reg) {
+		try {
+			return pipetteCtrlDriver.getReg(reg);
+		} catch (AppException e) {
+			return 0;
+		}
+	}
+
+
+	@PostConstruct
+	void init() {
+		var page = extApiPageMgr.newPage(this);
+
+		page.newGroup("基础操作");
+		page.addFunction("使能电机", this::enableMotor);
+		page.addFunction("失能电机", this::disableMotor);
+		page.addFunction("归零", this::stepMotorEasyMoveToZero);
+		page.addFunction("停止", this::stepMotorStop);
+
+		page.newGroup("相对移动");
+		page.addFunction("设置相对移动距离", this::setStepMotorDpos).setParamVal("dpos", () -> dpos);
+		page.addFunction("正向移动", this::stepMotorEasyMoveForward);
+		page.addFunction("反向移动", this::stepMotorEasyMoveBackward);
+
+		page.newGroup("绝对移动");
+		page.addFunction("绝对移动", this::stepMotorEasyMoveTo);
+
+		page.newGroup("寄存器配置");
+		page.addFunction("设备MRES", this::setMres).setParamVal("mres", () -> readReg(PipetteRegIndex.kreg_pipette_zm_mres));
+		page.addFunction("设置IRUN", this::setIRUN).setParamVal("irun", () -> readReg(PipetteRegIndex.kreg_pipette_zm_irun));
+		page.addFunction("设置IHOLD", this::setIHOLD).setParamVal("ihold", () -> readReg(PipetteRegIndex.kreg_pipette_zm_ihold));
+		page.addFunction("设置起停速度", this::setStartAndStopVel).setParamVal("v", () -> readReg(PipetteRegIndex.kreg_pipette_zm_vstart));
+		page.addFunction("设置V1", this::setV1).setParamVal("v", () -> readReg(PipetteRegIndex.kreg_pipette_zm_v1));
+		page.addFunction("设置加速度", this::setA1AndD1).setParamVal("acc", () -> readReg(PipetteRegIndex.kreg_pipette_zm_a1));
+		page.addFunction("设置最大加速度", this::setAmaxAndDmax).setParamVal("acc", () -> readReg(PipetteRegIndex.kreg_pipette_zm_amax));
+		page.addFunction("设置默认速度", this::setDefaultVel).setParamVal("v", () -> readReg(PipetteRegIndex.kreg_pipette_zm_default_velocity));
+		page.addFunction("设置一圈脉冲数", this::setOneCirclePulse)
+				.setParamVal("pulse", () -> readReg(PipetteRegIndex.kreg_pipette_zm_one_circle_pulse)).setParamVal("denominator",
+						() -> readReg(PipetteRegIndex.kreg_pipette_zm_one_circle_pulse_denominator));
+
+		page.addFunction("设置寄存器", this::setReg);
+		page.addFunction("读取所有寄存器", this::readAllRegs);
+
+
+		page.newGroup("状态");
+		page.addFunction("读取位置", this::readPos);
+		page.addFunction("读取编码器位置", this::readEncPos);
+
+
+		extApiPageMgr.addPage(page);
+
+
+	}
+}

src/main/java/a8k/extui/page/test/verification/P32HbotPosVerificationPage.java

@@ -20,9 +20,16 @@ public class P32HbotPosVerificationPage {
 	}
 
 	public void takeAndDropTip(TipGroupPos tipGroupPos, Integer index) throws AppException {
-		hbotMoveExCtrlService.testTakeTip(tipGroupPos, index);
+		try {
+			hbotMoveExCtrlService.testTakeTip(tipGroupPos, index);
+		} catch (AppException e) {
+			hbotMoveExCtrlService.initializePipette();
+			hbotMoveExCtrlService.zAxisMoveToZeroPointBlock();
+			throw e;
+		}
 	}
 
+
 	public void dropTip() throws AppException {
 		hbotMoveExCtrlService.dropTip();
 	}