From 157084f9009032708b6d5311550369a2fdf46d12 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 14 Jul 2024 12:20:45 +0800 Subject: [PATCH 1/3] update --- .clang-format | 9 +++++++++ .gitmodules | 3 +++ a8000_protocol | 1 + 3 files changed, 13 insertions(+) create mode 100644 .clang-format create mode 100644 .gitmodules create mode 160000 a8000_protocol diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..4c41736 --- /dev/null +++ b/.clang-format @@ -0,0 +1,9 @@ +# Defines the Chromium style for automatic reformatting. +# http://clang.llvm.org/docs/ClangFormatStyleOptions.html +Language: Cpp +BasedOnStyle: Google +ColumnLimit: 300 +AlignConsecutiveMacros: true +AlignConsecutiveDeclarations: true +AlignConsecutiveAssignments: true +AlignOperands: true \ No newline at end of file diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..a95cf63 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "a8000_protocol"] + path = a8000_protocol + url = zwsd@192.168.1.3:project_boditech_vidas_a8000_v3/a8000_protocol.git diff --git a/a8000_protocol b/a8000_protocol new file mode 160000 index 0000000..5081899 --- /dev/null +++ b/a8000_protocol @@ -0,0 +1 @@ +Subproject commit 5081899a39cbbfca1beb5da571b1df2f0ce46789 From d475553c7e6f4b55a221ecf460ad134ca79dc9cb Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 14 Jul 2024 12:39:02 +0800 Subject: [PATCH 2/3] update --- .../a8k/service/db/dao/ModulerParameterDao.java | 17 +++++++++++ .../java/a8k/service/db/dao/MotorParameterDao.java | 17 ----------- .../a8k/service/db/entity/ModuleParameter.java | 34 ++++++++++++++++++++++ .../java/a8k/service/db/entity/MotorParameter.java | 30 ------------------- .../hardware/MotorTubeRackMoveCtrlService.java | 9 ++++-- 5 files changed, 58 insertions(+), 49 deletions(-) create mode 100644 src/main/java/a8k/service/db/dao/ModulerParameterDao.java delete mode 100644 src/main/java/a8k/service/db/dao/MotorParameterDao.java create mode 100644 src/main/java/a8k/service/db/entity/ModuleParameter.java delete mode 100644 src/main/java/a8k/service/db/entity/MotorParameter.java diff --git a/src/main/java/a8k/service/db/dao/ModulerParameterDao.java b/src/main/java/a8k/service/db/dao/ModulerParameterDao.java new file mode 100644 index 0000000..e12796b --- /dev/null +++ b/src/main/java/a8k/service/db/dao/ModulerParameterDao.java @@ -0,0 +1,17 @@ +package a8k.service.db.dao; + +import a8k.service.db.entity.ModuleParameter; + +import com.iflytop.uf.UfActiveRecord; +import org.springframework.stereotype.Component; + +import java.util.Map; + +@Component +public class ModulerParameterDao { + ModuleParameter getMotorParameter(int mid) { + var param = UfActiveRecord.findOne(ModuleParameter.class, Map.of("mid", mid)); + assert param != null; + return param; + } +} diff --git a/src/main/java/a8k/service/db/dao/MotorParameterDao.java b/src/main/java/a8k/service/db/dao/MotorParameterDao.java deleted file mode 100644 index 3ace809..0000000 --- a/src/main/java/a8k/service/db/dao/MotorParameterDao.java +++ /dev/null @@ -1,17 +0,0 @@ -package a8k.service.db.dao; - -import a8k.service.db.entity.MotorParameter; - -import com.iflytop.uf.UfActiveRecord; -import org.springframework.stereotype.Component; - -import java.util.Map; - -@Component -public class MotorParameterDao { - MotorParameter getMotorParameter(int mid) { - var param = UfActiveRecord.findOne(MotorParameter.class, Map.of("mid", mid)); - assert param != null; - return param; - } -} diff --git a/src/main/java/a8k/service/db/entity/ModuleParameter.java b/src/main/java/a8k/service/db/entity/ModuleParameter.java new file mode 100644 index 0000000..8fe80d3 --- /dev/null +++ b/src/main/java/a8k/service/db/entity/ModuleParameter.java @@ -0,0 +1,34 @@ +package a8k.service.db.entity; + +import com.iflytop.uf.UfActiveRecord; +import com.iflytop.uf.UfActiveRecordField; + +public class ModuleParameter extends UfActiveRecord { + @UfActiveRecordField + Integer mid; //模块ID + + @UfActiveRecordField + String moduleName; //模块名称 + + @UfActiveRecordField + Integer zeroPosOff; //零点偏移 + + @UfActiveRecordField + Integer moveToZeroOvertime;// 回零超时时间 + + @UfActiveRecordField + Integer actionOvertime;// 执行动作的超时时间，该超时时间适用于当前模块在当前产品中所有动作的最大时间。 + + @UfActiveRecordField + Integer defaultVelocity; //默认速度 + + @UfActiveRecordField + Integer backToZeroVelocity; //回零速度 + + @UfActiveRecordField + Integer loseStepWarningJudgeDistance; //丢步异常警告距离 + + public static String getTableName() { + return "MotorParameter" + "Table"; + } +} diff --git a/src/main/java/a8k/service/db/entity/MotorParameter.java b/src/main/java/a8k/service/db/entity/MotorParameter.java deleted file mode 100644 index c968162..0000000 --- a/src/main/java/a8k/service/db/entity/MotorParameter.java +++ /dev/null @@ -1,30 +0,0 @@ -package a8k.service.db.entity; - -import com.iflytop.uf.UfActiveRecord; -import com.iflytop.uf.UfActiveRecordField; - -public class MotorParameter extends UfActiveRecord { - @UfActiveRecordField - Integer mid; //模块ID - - @UfActiveRecordField - String moduleName; //模块名称 - - @UfActiveRecordField - Integer zeroPosOff; //零点偏移 - - @UfActiveRecordField - Integer moveToZeroOvertime;// 回零超时时间 - - @UfActiveRecordField - Integer defaultVelocity; //默认速度 - - @UfActiveRecordField - Integer backToZeroVelocity; //回零速度 - - @UfActiveRecordField - Integer loseStepWarningJudgeDistance; //丢步异常警告距离 - public static String getTableName() { - return "MotorParameter" + "Table"; - } -} diff --git a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java index e0a5e01..5a6e07e 100644 --- a/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java +++ b/src/main/java/a8k/service/hardware/MotorTubeRackMoveCtrlService.java @@ -2,7 +2,7 @@ package a8k.service.hardware; import a8k.service.db.dao.A8kDirectCtrlPosDao; import a8k.service.db.dao.A8kTubeInfoDao; -import a8k.service.db.dao.MotorParameterDao; +import a8k.service.db.dao.ModulerParameterDao; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Component; @@ -38,7 +38,7 @@ public class MotorTubeRackMoveCtrlService { @Autowired A8kTubeInfoDao tubeInfoDao; @Autowired - MotorParameterDao motorParameterDao; + ModulerParameterDao modulerParameterDao; // @@ -54,6 +54,11 @@ public class MotorTubeRackMoveCtrlService { //先通过move_to 指令移动到零点 //再通过 move_to_zero 进行归零(设置超时时间)，超时时间，来源MotorParameterDao //最后读取 寄存器dval,判断move_to_zero移动了多少距离，如果dval过大，则抛出电机丢步异常。 + //1.记录运行前电机所在位置 + //2.使用move_to_zero移动到零点 + //3.读取电机运行完成后所在的位置 + //4.比较dpos和上面两个位置的差值 相差多少，如果超过2mm，即超过20则认为发生过阻转。 + } From 45050ec3d3cb098d4074487cfcb951e3989c7182 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sun, 14 Jul 2024 14:10:32 +0800 Subject: [PATCH 3/3] update --- src/main/java/a8k/service/db/entity/A8kTubeInfo.java | 20 ++++++++++++-------- 1 file changed, 12 insertions(+), 8 deletions(-) diff --git a/src/main/java/a8k/service/db/entity/A8kTubeInfo.java b/src/main/java/a8k/service/db/entity/A8kTubeInfo.java index bed60a4..09ff0be 100644 --- a/src/main/java/a8k/service/db/entity/A8kTubeInfo.java +++ b/src/main/java/a8k/service/db/entity/A8kTubeInfo.java @@ -15,17 +15,21 @@ public class A8kTubeInfo extends UfActiveRecord { @UfActiveRecordField public Integer tubeNum; //试管数量 @UfActiveRecordField - public Double tubeSpacing; //试管之间的间隔 单位mm - @UfActiveRecordField - public Double tubeHight;//float mm 取试管帽高度（试管帽的下编研） - @UfActiveRecordField - public Double tubeHightWithCap;//float mm 取试管帽高度（试管帽的下编研） + public Double tubeSpacing; //试管之间的间隔 单位mm + + /** + * 摇匀模组使用 + */ @UfActiveRecordField - public String tubeCapHight;//试管帽高度 + public Double takeTubeCapPos;//float mm 取试管帽高度 + + /** + * Z轴使用 + */ @UfActiveRecordField - public Double sampleHeight;//float mm 取样高度 + public Double sampleBeginPos;//float mm 取样高度 @UfActiveRecordField - public Double sampleBottom;//float mm 取样低位 + public Double sampleEndPos;//float mm 取样低位 public static String getTableName() { return "A8kTubeInfo" + "Table";