update

src/main/java/a8k/appbean/IncubatorPos.java

@@ -1,7 +1,7 @@
 package a8k.appbean;
 
 public enum IncubatorPos {
-	POS01, POS02, POS03, POS04, POS05, POS06, POS07, POS08, POS09, POS10, POS11, POS12, POS13, POS14, POS15, POS16, POS17, POS18, POS19, POS20;
+	SPACE01, SPACE02, SPACE03, SPACE04, SPACE05, SPACE06, SPACE07, SPACE08, SPACE09, SPACE10, SPACE11, SPACE12, SPACE13, SPACE14, SPACE15, SPACE16, SPACE17, SPACE18, SPACE19, SPACE20;
 
 	final public Integer off;
 	private IncubatorPos() {

src/main/java/a8k/service/hardware/ReactionPlatesTransmitCtrlService.java

@@ -210,32 +210,36 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.IncubatorRotateCtrlM, getActionOvertime());
 	}
 
-	@HardwareServiceAction(name = "转盘移动到推板位", group = "单步操作")
-	public void trunableMoveToPushPos(Integer index) throws HardwareException, InterruptedException {
+
+	private void trunableMoveTo(Integer pos) throws HardwareException, InterruptedException {
 		checkBeforeMoveTrunable();
-		canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
-				getTurntablePushPos0() + index * getTurntablePosSpacing(), getActionOvertime());
+		//限制pos在 0--> 36000之间
+		pos = pos % 36000;
+		if (pos < 0) {pos += 36000;}
+		canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM, pos, getActionOvertime());
+	}
+
+
+	@HardwareServiceAction(name = "转盘移动到推板位", group = "单步操作")
+	public void trunableMoveToPushPos(IncubatorPos index) throws HardwareException, InterruptedException {
+		trunableMoveTo(getTurntablePushPos0() + index.off * getTurntablePosSpacing());
 	}
 
 	@HardwareServiceAction(name = "转盘移动到出板位", group = "单步操作")
-	public void trunableMoveToPullPos(Integer index) throws HardwareException, InterruptedException {
-		checkBeforeMoveTrunable();
-		canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
-				getTurntablePullPos0() + index * getTurntablePosSpacing(), getActionOvertime());
+	public void trunableMoveToPullPos(IncubatorPos index) throws HardwareException, InterruptedException {
+		trunableMoveTo(getTurntablePullPos0() + index.off * getTurntablePosSpacing());
 
 	}
 
 	@HardwareServiceAction(name = "转盘移动到滴定位", group = "单步操作")
-	public void trunableMoveToDropLiquidPos(Integer index) throws HardwareException, InterruptedException {
-		checkBeforeMoveTrunable();
-		canBus.stepMotorEasyMoveToBlock(MId.IncubatorRotateCtrlM,//
-				getTurntableDropLiquidPos0() + index * getTurntablePosSpacing(), getActionOvertime());
+	public void trunableMoveToDropLiquidPos(IncubatorPos index) throws HardwareException, InterruptedException {
+		trunableMoveTo(getTurntableDropLiquidPos0() + index.off * getTurntablePosSpacing());
 	}
 
 
 	@HardwareServiceAction(name = "推板", group = "单步操作")
 	public AppRet<PlateInfo> pushPlate(PlateBoxCh PBCh, IncubatorPos turntablePosIndex) throws HardwareException, InterruptedException {
-		trunableMoveToPushPos(turntablePosIndex.off);
+		trunableMoveToPushPos(turntablePosIndex);
 		canBus.stepMotorEasyMoveToBlock(MId.PlatesBoxYM, getPBCh0Pos() + PBCh.off * getPBChSpacing(), getActionOvertime());
 		canBus.plateCodeScanerPushCardAndScanBlock(MId.PlatesBoxScanner, getPusherEndPos(), 10000);
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.PlatesBoxPusherM, getActionOvertime());
@@ -246,7 +250,7 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 
 	@HardwareServiceAction(name = "拉板", group = "单步操作")
 	public void pullPlate(IncubatorPos turntablePosIndex) throws HardwareException, InterruptedException {
-		trunableMoveToPullPos(turntablePosIndex.off);
+		trunableMoveToPullPos(turntablePosIndex);
 		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getOptScanScandbyPos(), getActionOvertime());
 		canBus.stepMotorEasyMoveToBlock(MId.OptModPullM, getPullerTargetPos(), getActionOvertime());
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.OptModPullM, getActionOvertime());
@@ -259,6 +263,28 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 		canBus.stepMotorEasyMoveToBlock(MId.OptModScannerM, getOptScanScandbyPos(), getActionOvertime());
 	}
 
+	private Boolean breakDropAllPlateFlag = false;
+
+	@HardwareServiceAction(name = "丢弃全部板", group = "测试")
+	public void dropAllPlate() throws HardwareException, InterruptedException {
+		breakDropAllPlateFlag = false;
+		checkBeforeMoveTrunable();
+		checkBeforeMovePlateBox();
+		modGroupMoveToZeroQuick();
+		for (IncubatorPos index : IncubatorPos.values()) {
+			pullPlate(index);
+			dropPlate();
+			if (breakDropAllPlateFlag) {
+				break;
+			}
+		}
+	}
+
+	@HardwareServiceAction(name = "打断-丢弃全部板", group = "测试")
+	public void breakDropAllPlate() throws HardwareException, InterruptedException {
+		breakDropAllPlateFlag = true;
+	}
+
 
 	@HardwareServiceAction(name = "显示板夹扫码原始曲线", group = "辅助调试")
 	public AppRet<A8kScanCurve> readPlateScanCurve() throws HardwareException, InterruptedException {
@@ -295,4 +321,5 @@ public class ReactionPlatesTransmitCtrlService implements HardwareCtrlModule {
 	public AppRet<Integer> readOptModScannerMPosByMoveToZero() throws HardwareException, InterruptedException {
 		return AppRet.success(canBus.stepMotorReadPosByMoveToZeroBlock(MId.OptModScannerM, getActionOvertime()));
 	}
+
 }