project_boditech_vidas_a8000_v3
/
a8k_app
7
0
Fork 0
Code Issues Pull Requests Projects Releases 1 Wiki Activity
Browse Source

update

tags/v0
zhaohe 10 months ago
parent
d1d589718e
commit
9b61495c30
13 changed files with 301 additions and 278 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. BIN
      app.db
  2. 33
      src/main/java/a8k/service/app/devicectrl/calibration/ReactionPlatesTransmitControlerCalibration.java
  3. 26
      src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
  4. 65
      src/main/java/a8k/service/app/devicectrl/calibration/TubePreProcesPosCalibration.java
  5. 10
      src/main/java/a8k/service/app/devicectrl/ctrlservice/DeviceInitCtrlService.java
  6. 28
      src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
  7. 8
      src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java
  8. 6
      src/main/java/a8k/service/app/devicectrl/driver/MiniServoDriver.java
  9. 40
      src/main/java/a8k/service/app/devicectrl/exdriver/MotorEnableExDriver.java
  10. 13
      src/main/java/a8k/service/app/devicectrl/exdriver/TubeTransportExDriver.java
  11. 32
      src/main/java/a8k/service/app/devicectrl/init/MiniServoReferencePointIniter.java

BIN
app.db
View File

33
src/main/java/a8k/service/app/devicectrl/calibration/ReactionPlatesTransmitControlerCalibration.java
View File

@ -4,12 +4,13 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.app.devicectrl.driver.HbotDriver;
import a8k.service.app.devicectrl.exdriver.MiniServoExDriver;
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.StepMotorMId;
import a8k.service.app.devicectrl.ctrlservice.HbotCtrlService;
import a8k.service.app.devicectrl.ctrlservice.ReactionPlatesTransmitCtrlService;
import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
import a8k.service.app.devicectrl.param.*;
import a8k.type.ConsumableGroup;
import a8k.type.IncubatorPos;
@ -25,13 +26,13 @@ public class ReactionPlatesTransmitControlerCalibration {
final static int overtime = 10000;
@Resource
MiniServoExDriver miniServoExDriver;
MiniServoDriver miniServoDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
StepMotorCtrlDriver stepMotorCtrlDriver;
@Resource
OptModuleParamsMgr optModuleParamsMgr;
OptModuleParamsMgr optModuleParamsMgr;
@Resource
TurntablePosParamMgr turntablePosParamMgr;
TurntablePosParamMgr turntablePosParamMgr;
@Resource
PlatesBoxPosParamMgr platesBoxPosParamMgr;
@Resource
@ -48,6 +49,8 @@ public class ReactionPlatesTransmitControlerCalibration {
@Resource
HbotFixPosParamMgr hbotFixPosParamMgr;
@Resource
MotorEnableExDriver motorEnableExDriver;
//基础工具
@ExtApiFn(name = "归零", group = "测试工具", order = 1)
@ -64,26 +67,14 @@ public class ReactionPlatesTransmitControlerCalibration {
@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 2)
public void enableModule() throws AppException {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.PlatesBoxPusherM, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.PlatesBoxYM, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModPullM, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModScannerM, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.IncubatorRotateCtrlM, 1);
pipetteCtrlDriver.zMotorEnable(1);
hbotDriver.enable(1);
motorEnableExDriver.reactionPlatesRelateModuleEnable(true);
motorEnableExDriver.hbotRelateModuleEnable(true);
}
@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 3)
public void disableModule() throws AppException {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.PlatesBoxPusherM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.PlatesBoxYM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModPullM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModScannerM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.IncubatorRotateCtrlM, 0);
pipetteCtrlDriver.zMotorEnable(0);
hbotDriver.enable(0);
motorEnableExDriver.reactionPlatesRelateModuleEnable(false);
motorEnableExDriver.hbotRelateModuleEnable(false);
}
@ExtApiFn(name = "读取板夹仓坐标", group = "测试工具", order = 5)

26
src/main/java/a8k/service/app/devicectrl/calibration/TubeFeedingModulePosCalibration.java
View File

@ -4,8 +4,9 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.hardware.A8kCanBusService;
import a8k.service.app.devicectrl.exdriver.MiniServoExDriver;
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.TubeTransportExDriver;
import a8k.service.app.devicectrl.driver.type.MiniServoMId;
import a8k.service.app.devicectrl.driver.type.StepMotorMId;
@ -31,11 +32,13 @@ public class TubeFeedingModulePosCalibration {
@Resource
TubeTubeFeedingCtrlService tubeTubeFeedingCtrlService;
@Resource
TubeTransportExDriver tubeTransportExDriver;
TubeTransportExDriver tubeTransportExDriver;
@Resource
MiniServoExDriver miniServoExDriver;
MiniServoDriver miniServoDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
StepMotorCtrlDriver stepMotorCtrlDriver;
@Resource
MotorEnableExDriver motorEnableExDriver;
private Integer readFeedingModXMPos() throws AppException {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
@ -47,29 +50,24 @@ public class TubeFeedingModulePosCalibration {
return tubeScanPosMgr.getParams();
}
// 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);
}
@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
public void enableModule() throws AppException {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModInfeedM, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModOutfeedM, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 1);
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
motorEnableExDriver.tubeFeedRelatedModuleEnable(true);
}
@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
public void disableModule() throws AppException {
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModInfeedM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModOutfeedM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 0);
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 0);
motorEnableExDriver.tubeFeedRelatedModuleEnable(false);
motorEnableExDriver.preProcessRelatedModuleEnable(false);
}

65
src/main/java/a8k/service/app/devicectrl/calibration/TubePreProcesPosCalibration.java
View File

@ -3,11 +3,12 @@ package a8k.service.app.devicectrl.calibration;
import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.app.devicectrl.exdriver.MiniServoExDriver;
import a8k.service.app.devicectrl.driver.MiniServoDriver;
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.ctrlservice.TubePreProcesCtrlService;
import a8k.service.app.devicectrl.exdriver.MotorEnableExDriver;
import a8k.service.app.devicectrl.param.TubePreProcesPosParamMgr;
import a8k.type.exception.AppException;
import jakarta.annotation.Resource;
@ -23,19 +24,21 @@ public class TubePreProcesPosCalibration {
TubePreProcesPosParamMgr posMgr;
@Resource
MiniServoExDriver miniServoExDriver;
MiniServoDriver miniServoDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
@Resource
TubePreProcesCtrlService controler;
@Resource
MotorEnableExDriver motorEnableExDriver;
//基础工具
@ExtApiFn(name = "归零", group = "测试工具", order = 1)
public void deviceReset() throws AppException {
enableModule();
miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, overtime);
miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, overtime);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, overtime);
@ -45,21 +48,13 @@ public class TubePreProcesPosCalibration {
@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 2)
public void enableModule() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModGripperZM, 1);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 1);
motorEnableExDriver.preProcessRelatedModuleEnable(true);
}
@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 3)
public void disableModule() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 0);
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModGripperZM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, 0);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, 0);
motorEnableExDriver.preProcessRelatedModuleEnable(false);
motorEnableExDriver.tubeFeedRelatedModuleEnable(false);
}
// @ExtApiFn(name = "读取夹爪当前位置", group = "测试工具", order = 4)
@ -85,48 +80,48 @@ public class TubePreProcesPosCalibration {
// 夹爪标定,校准,校验
//
// @ExtApiFn(name = "设置当前位置为<参考点>(完全张开的位置)", group = "标定.夹爪", order = 21, newline = true)
// public Integer gripperSVSetCurrentPosAsRef() throws AppException {
// miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperSV);
// return 1800;
// }
// @ExtApiFn(name = "设置当前位置为<参考点>(完全张开的位置)", group = "标定.夹爪", order = 21, newline = true)
// public Integer gripperSVSetCurrentPosAsRef() throws AppException {
// miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperSV);
// return 1800;
// }
@ExtApiFn(name = "<标定>当前点为<抓手张开位置>", group = "标定.夹爪", order = 22)
public Integer gripperSVSetCurrentPosAsOpenPos() throws AppException {
Integer pos = miniServoExDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
Integer pos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
posMgr.setGripperServoOpenPos(pos);
return pos;
}
@ExtApiFn(name = "<标定>当前点为<抓手闭合位置>", group = "标定.夹爪", order = 23)
public Integer gripperSVSetCurrentPosAsClosePos() throws AppException {
int pos = miniServoExDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
int pos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
posMgr.setGripperServoClosePos(pos + 2);
return pos;
}
@ExtApiFn(name = "<标定>当前点为<抓手取试管位置>", group = "标定.夹爪", order = 24)
public Integer gripperSVSetCurrentPosAsTakeCapPos() throws AppException {
Integer pos = miniServoExDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
Integer pos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV);
posMgr.setGripperServoTakeCapPos(pos - 5);
return pos;
}
@ExtApiFn(name = "<校验>张开", group = "校验.夹爪", order = 26)
public void gripperSVOpen() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
controler.gripperSVOpen();
}
@ExtApiFn(name = "<校验>夹紧", group = "校验.夹爪", order = 25)
public void gripperSVCClose() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
controler.gripperSVCClose();
}
@ExtApiFn(name = "<校验>夹住试管", group = "校验.夹爪", order = 25)
public void gripperSVClampTube() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
controler.gripperSVClampTube();
}
@ -134,40 +129,40 @@ public class TubePreProcesPosCalibration {
//YSV : 设置参考点,标定,验证
//
// @ExtApiFn(name = "设置当前位置为<参考点>(Y轴最外侧的位置)", group = "标定.YSV", order = 31, newline = true)
// public Integer YAxixServoSetCurrentPosAsRef() throws AppException {
// return miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperYSV);
// }
// @ExtApiFn(name = "设置当前位置为<参考点>(Y轴最外侧的位置)", group = "标定.YSV", order = 31, newline = true)
// public Integer YAxixServoSetCurrentPosAsRef() throws AppException {
// return miniServoControler.miniServoSetRefPos(MiniServoMId.ShakeModGripperYSV);
// }
@ExtApiFn(name = "<标定>当前点为<取试管位置>", group = "标定.YSV", order = 32)
public Integer YAxixServoSetCurrentPosAsTakeTubePos() throws AppException {
Integer pos = miniServoExDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV);
Integer pos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV);
posMgr.setYServoTakeTubePos(pos);
return pos;
}
@ExtApiFn(name = "<标定>当前点为<摇晃位置>", group = "标定.YSV", order = 33)
public Integer YAxixServoSetCurrentPosAsShakePos() throws AppException {
Integer pos = miniServoExDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV);
Integer pos = miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV);
posMgr.setYServoShakePos(pos);
return pos;
}
@ExtApiFn(name = "<校验>移动到摇匀位", group = "校验.YSV", order = 35)
public void YAxixServoShake() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
controler.YSVMoveToShakePos();
}
@ExtApiFn(name = "<校验>移动到取试管位", group = "校验.YSV", order = 36)
public void YAxixServoTakeTube() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
controler.YSVMoveToTakeTubePos();
}
@ExtApiFn(name = "<校验>移动到待机位", group = "校验.YSV", order = 37)
public void YAxixServoMoveToStandyPos() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
controler.YSVMoveToStandyPos();
}

10
src/main/java/a8k/service/app/devicectrl/ctrlservice/DeviceInitCtrlService.java
View File

@ -2,7 +2,7 @@ package a8k.service.app.devicectrl.ctrlservice;
import a8k.hardware.A8kCanBusService;
import a8k.hardware.type.a8kcanprotocol.IOId;
import a8k.service.app.devicectrl.exdriver.MiniServoExDriver;
import a8k.service.app.devicectrl.driver.MiniServoDriver;
import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
import a8k.service.app.devicectrl.driver.type.MiniServoMId;
import a8k.service.app.devicectrl.driver.type.StepMotorMId;
@ -35,7 +35,7 @@ public class DeviceInitCtrlService {
@Resource
AppDebugHelperService appDebugHelper;
@Resource
MiniServoExDriver miniServoExDriver;
MiniServoDriver miniServoDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
@ -93,9 +93,9 @@ public class DeviceInitCtrlService {
//进出料初始化
actionReactor.dosome("入料平移电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.FeedingModXM, actionOvertime));
actionReactor.dosome("摇匀模组-扫码夹紧舵机回零", () -> miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModTubeScanerClampingSV));
actionReactor.dosome("摇匀模组-夹爪舵机回零", () -> miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV));
actionReactor.dosome("摇匀模组-夹爪Y轴舵机回零", () -> miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV));
actionReactor.dosome("摇匀模组-扫码夹紧舵机回零", () -> miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModTubeScanerClampingSV));
actionReactor.dosome("摇匀模组-夹爪舵机回零", () -> miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV));
actionReactor.dosome("摇匀模组-夹爪Y轴舵机回零", () -> miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV));
actionReactor.dosome("摇匀模组-夹紧电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, actionOvertime));
actionReactor.dosome("摇匀模组-夹爪Z轴电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, actionOvertime));
actionReactor.dosome("摇匀模组-摇匀电机回零", () -> stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, actionOvertime));

28
src/main/java/a8k/service/app/devicectrl/ctrlservice/TubePreProcesCtrlService.java
View File

@ -4,7 +4,7 @@ import a8k.constant.MiniServoConstant;
import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.app.devicectrl.exdriver.MiniServoExDriver;
import a8k.service.app.devicectrl.driver.MiniServoDriver;
import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
import a8k.service.app.devicectrl.driver.type.MiniServoMId;
import a8k.service.app.devicectrl.driver.type.StepMotorMId;
@ -43,7 +43,7 @@ public class TubePreProcesCtrlService {
@Resource
TubePreProcesPosParamMgr tubePreProcesPosParamMgr;
@Resource
MiniServoExDriver miniServoExDriver;
MiniServoDriver miniServoDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++
@ -51,8 +51,8 @@ public class TubePreProcesCtrlService {
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++
private void modGroupMoveToZero() throws AppException {
miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModClampingM, actionOvertime);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModGripperZM, actionOvertime);
stepMotorCtrlDriver.stepMotorEasyMoveToZeroBlock(StepMotorMId.ShakeModShakeM, actionOvertime);
@ -81,30 +81,30 @@ public class TubePreProcesCtrlService {
// Api
public void gripperSVOpen() throws AppException {
miniServoExDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoOpenPos());
miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoOpenPos());
}
public void gripperSVCClose() throws AppException {
miniServoExDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoClosePos());
miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoClosePos());
}
public void gripperSVClampTube() throws AppException {
miniServoExDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoTakeCapPos());
miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperSV, tubePreProcesPosParamMgr.getGripperServoTakeCapPos());
}
public void YSVMoveToTakeTubePos() throws AppException {
miniServoExDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoTakeTubePos() - 100); //该动作是为了消除齿轮间隙
miniServoExDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoTakeTubePos());
miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoTakeTubePos() - 100); //该动作是为了消除齿轮间隙
miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoTakeTubePos());
}
public void YSVMoveToShakePos() throws AppException {
miniServoExDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoShakePos() - 100); //该动作是为了消除齿轮间隙
miniServoExDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoShakePos());
miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoShakePos() - 100); //该动作是为了消除齿轮间隙
miniServoDriver.miniServoMoveToBlock(MiniServoMId.ShakeModGripperYSV, tubePreProcesPosParamMgr.getYServoShakePos());
}
public void YSVMoveToStandyPos() throws AppException {
miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
}
@ -181,12 +181,12 @@ public class TubePreProcesCtrlService {
}
//Y轴在零点附近
if (!ZEQ.IntEq(miniServoExDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperYSV), 30)) {
if (!ZEQ.IntEq(miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperYSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperYSV), 30)) {
throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperYSV);
}
//夹爪没有零位置
if (!ZEQ.IntEq(miniServoExDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperSV), 30)) {
if (!ZEQ.IntEq(miniServoDriver.miniServoReadPos(MiniServoMId.ShakeModGripperSV), MiniServoConstant.getZeroPos(MiniServoMId.ShakeModGripperSV), 30)) {
throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV);
}

8
src/main/java/a8k/service/app/devicectrl/ctrlservice/TubeTubeFeedingCtrlService.java
View File

@ -5,7 +5,7 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.app.devicectrl.exdriver.CodeScanerExDriver;
import a8k.service.app.devicectrl.exdriver.MiniServoExDriver;
import a8k.service.app.devicectrl.driver.MiniServoDriver;
import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
import a8k.service.app.devicectrl.exdriver.TubeTransportExDriver;
import a8k.service.app.devicectrl.driver.type.MiniServoMId;
@ -54,9 +54,9 @@ public class TubeTubeFeedingCtrlService {
@Resource
TubeTransportExDriver tubeTransportExDriver;
@Resource
MiniServoExDriver miniServoExDriver;
MiniServoDriver miniServoDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
StepMotorCtrlDriver stepMotorCtrlDriver;
private Boolean isTubeExist() throws AppException {
@ -214,7 +214,7 @@ public class TubeTubeFeedingCtrlService {
tubeTransportExDriver.scanClampModClamp();
canBus.codeScanerStartScan(MId.FeedingModScannerMod);
miniServoExDriver.miniServoRotateWithTorque(MiniServoMId.ShakeModTubeScanerClampingSV, stp.getTubeScanServoTorque());
miniServoDriver.miniServoRotateWithTorque(MiniServoMId.ShakeModTubeScanerClampingSV, stp.getTubeScanServoTorque());
return codeScaner.feedingModScannerModCodeScannerScanCode(scanOvertime);
} finally {
canBus.moduleStop(MId.ShakeModTubeScanerClampingSV);

6
src/main/java/a8k/service/app/devicectrl/exdriver/MiniServoExDriver.java → src/main/java/a8k/service/app/devicectrl/driver/MiniServoDriver.java
View File

@ -1,4 +1,4 @@
package a8k.service.app.devicectrl.exdriver;
package a8k.service.app.devicectrl.driver;
import a8k.constant.MiniServoConstant;
import a8k.hardware.A8kCanBusService;
@ -14,8 +14,8 @@ import org.springframework.stereotype.Component;
@Component
public class MiniServoExDriver {
Logger logger = org.slf4j.LoggerFactory.getLogger(MiniServoExDriver.class);
public class MiniServoDriver {
Logger logger = org.slf4j.LoggerFactory.getLogger(MiniServoDriver.class);
@Resource
A8kCanBusService canBus;

40
src/main/java/a8k/service/app/devicectrl/exdriver/MotorEnableExDriver.java
View File

@ -2,8 +2,12 @@ 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.type.exception.AppException;
import jakarta.annotation.Resource;
import org.springframework.stereotype.Component;
@ -12,15 +16,49 @@ public class MotorEnableExDriver {
@Resource
A8kCanBusService canBus;
A8kCanBusService canBus;
@Resource
HbotDriver hbotDriver;
@Resource
PipetteCtrlDriver pipetteCtrlDriver;
@Resource
StepMotorCtrlDriver stepMotorCtrlDriver;
@Resource
MiniServoDriver miniServoDriver;
public void preProcessRelatedModuleEnable(Boolean enable) throws AppException {
Integer val = enable ? 1 : 0;
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, val);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModClampingM, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModGripperZM, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.ShakeModShakeM, val);
}
public void tubeFeedRelatedModuleEnable(Boolean enable) throws AppException {
Integer val = enable ? 1 : 0;
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModInfeedM, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModOutfeedM, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.FeedingModXM, val);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, val);
}
public void reactionPlatesRelateModuleEnable(Boolean enable) throws AppException {
Integer val = enable ? 1 : 0;
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.PlatesBoxPusherM, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.PlatesBoxYM, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModPullM, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.OptModScannerM, val);
stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.IncubatorRotateCtrlM, val);
}
public void hbotRelateModuleEnable(Boolean enable) throws AppException {
Integer val = enable ? 1 : 0;
pipetteCtrlDriver.zMotorEnable(val);
hbotDriver.enable(val);
}
}

13
src/main/java/a8k/service/app/devicectrl/exdriver/TubeTransportExDriver.java
View File

@ -5,6 +5,7 @@ import a8k.extapi_controler.utils.ExtApiFn;
import a8k.hardware.A8kCanBusService;
import a8k.hardware.type.a8kcanprotocol.A8kEcode;
import a8k.hardware.type.a8kcanprotocol.MId;
import a8k.service.app.devicectrl.driver.MiniServoDriver;
import a8k.service.app.devicectrl.driver.StepMotorCtrlDriver;
import a8k.service.app.devicectrl.driver.type.MiniServoMId;
import a8k.service.app.devicectrl.driver.type.StepMotorMId;
@ -22,9 +23,9 @@ public class TubeTransportExDriver {
static Integer overtime = 10000;
@Resource
A8kCanBusService canBus;
A8kCanBusService canBus;
@Resource
MiniServoExDriver miniServoExDriver;
MiniServoDriver miniServoDriver;
@Resource
TubeFeedingModuleParamMgr tubeScanPosMgr;
@ -72,16 +73,16 @@ public class TubeTransportExDriver {
@ExtApiFn(name = "扫描夹紧机构夹紧", group = "基础方法", order = 1)
public void scanClampModClamp() throws AppException {
logger.info("扫描夹紧机构夹紧");
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
miniServoExDriver.miniServoMoveTo(MiniServoMId.ShakeModTubeScanerClampingSV, MiniServoConstant.getZeroPos(MiniServoMId.ShakeModTubeScanerClampingSV) + 900);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModTubeScanerClampingSV, MiniServoConstant.getZeroPos(MiniServoMId.ShakeModTubeScanerClampingSV) + 900);
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, overtime);
}
@ExtApiFn(name = "扫描夹紧机构复位", group = "基础方法", order = 2)
public void scanClampModRelease() throws AppException {
logger.info("扫描夹紧机构复位");
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
miniServoExDriver.miniServoMoveTo(MiniServoMId.ShakeModTubeScanerClampingSV, MiniServoConstant.getZeroPos(MiniServoMId.ShakeModTubeScanerClampingSV));
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
miniServoDriver.miniServoMoveTo(MiniServoMId.ShakeModTubeScanerClampingSV, MiniServoConstant.getZeroPos(MiniServoMId.ShakeModTubeScanerClampingSV));
canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, overtime);
}

32
src/main/java/a8k/service/app/devicectrl/calibration/MiniServoReferencePointSetting.java → src/main/java/a8k/service/app/devicectrl/init/MiniServoReferencePointIniter.java
View File

@ -1,10 +1,10 @@
package a8k.service.app.devicectrl.calibration;
package a8k.service.app.devicectrl.init;
import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
import a8k.extapi_controler.utils.ExtApiFn;
import a8k.extapi_controler.utils.ExtApiTab;
import a8k.service.app.devicectrl.exdriver.MiniServoExDriver;
import a8k.service.app.devicectrl.driver.MiniServoDriver;
import a8k.service.app.devicectrl.driver.type.MiniServoMId;
import a8k.type.exception.AppException;
import jakarta.annotation.Resource;
@ -12,54 +12,54 @@ import org.springframework.stereotype.Component;
@Component
@ExtApiTab(cfg = ExtApiTabConfig.MiniServoReferencePointSetting)
public class MiniServoReferencePointSetting {
public class MiniServoReferencePointIniter {
@Resource
MiniServoExDriver miniServoExDriver;
MiniServoDriver miniServoDriver;
@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 1)
public void disableMotor() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 0);
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 0);
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 0);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 0);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 0);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 0);
}
@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 2)
public void enableMotor() throws AppException {
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
miniServoExDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModGripperYSV, 1);
miniServoDriver.miniServoEnable(MiniServoMId.ShakeModTubeScanerClampingSV, 1);
}
@ExtApiFn(name = "设置<夹爪><参考点>(完全张开的位置)", group = "参考点设置", order = 11, newline = true)
public Integer gripperSVSetCurrentPosAsRef() throws AppException {
miniServoExDriver.miniServoSetRefPos(MiniServoMId.ShakeModGripperSV);
miniServoDriver.miniServoSetRefPos(MiniServoMId.ShakeModGripperSV);
return 1800;
}
@ExtApiFn(name = "设置<摇匀模组Y轴舵机><参考点>(Y轴最外侧的位置)", group = "参考点设置", order = 12, newline = true)
public Integer YAxixServoSetCurrentPosAsRef() throws AppException {
return miniServoExDriver.miniServoSetRefPos(MiniServoMId.ShakeModGripperYSV);
return miniServoDriver.miniServoSetRefPos(MiniServoMId.ShakeModGripperYSV);
}
@ExtApiFn(name = "设置<夹紧舵机>参考点(水平位置)", group = "参考点设置", order = 13)
public void setTubeScanClampPos() throws AppException {
miniServoExDriver.miniServoSetRefPos(MiniServoMId.ShakeModTubeScanerClampingSV);
miniServoDriver.miniServoSetRefPos(MiniServoMId.ShakeModTubeScanerClampingSV);
}
@ExtApiFn(name = "夹紧舵机移动到待机位(在参考点附近)", group = "校验", order = 21)
public void gripperSVMoveToZeroBlock() throws AppException {
miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperSV);
}
@ExtApiFn(name = "摇匀模组Y轴舵机移动到待机位(在参考点附近)", group = "校验", order = 22)
public void YAxixServoMoveToZeroBlock() throws AppException {
miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModGripperYSV);
}
@ExtApiFn(name = "夹紧舵机移动到待机位(在参考点附近)", group = "校验", order = 23)
public void tubeScanClampMoveToZeroBlock() throws AppException {
miniServoExDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModTubeScanerClampingSV);
miniServoDriver.miniServoMoveToZeroBlock(MiniServoMId.ShakeModTubeScanerClampingSV);
}
}
Write Preview
Loading…
Cancel
Save