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更新参数

tags/v0
zhaohe 1 year ago
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1 changed files with 81 additions and 208 deletions
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  1. 283
      src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java

283
src/main/java/a8k/service/hardware/SamplesPreProcessModuleCtrlService.java
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@ -47,15 +47,15 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
}
public Integer getGripperTakeCapPos() {
return 60;//
return 55;//
}
public Integer getGripperTakeTubeYPos() {
return 2717;
return 2735;
}
public Integer getGripperShakeYPos() {
return 1778;
return 1828;
}
public Integer getGripperZeroYPos() {
@ -68,7 +68,7 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
}
public Integer getGripperTakeSTubeZPos() {
return 977;
return 985;
}
//JudgeTubeCapZ
@ -301,6 +301,10 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
//Y轴移动到摇匀位
logger.info("Y轴移动到摇匀位");
canBus.miniServoMoveTo(MId.ShakeModGripperYSV, getGripperShakeYPos() - 50); //该动作是为了消除齿轮间隙
canBus.waitForMod(MId.ShakeModGripperYSV, getActionOvertime());
canBus.miniServoMoveTo(MId.ShakeModGripperYSV, getGripperShakeYPos());
canBus.waitForMod(MId.ShakeModGripperYSV, getActionOvertime());
actionDelay();
@ -370,7 +374,7 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
//Z下移动到取试管帽位置
logger.info("Z下移动到取试管帽位置");
canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, getGripperTakeCapZPos() + 10);
canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, getGripperTakeCapZPos() + 3);
canBus.waitForMod(MId.ShakeModGripperZM, getActionOvertime());
actionDelay();
@ -390,209 +394,78 @@ public class SamplesPreProcessModuleCtrlService implements HardwareCtrlModule {
canBus.waitForMods(new MId[]{MId.ShakeModGripperYSV}, getActionOvertime());
}
// /* =======================================================================================
// 主要服务
// =======================================================================================*/
//
//
// /*
// * 整体流程:
// * 1.试管（只有全血试管，才取试管）
// * 2.GripperYSM移动到取试管的位置
// * 3.打开夹爪
// * 4.ZM下移动到试管帽有无检测位，检测试管帽有无
// * 5.ZM下移动到取试管位置，取试管
// * 6.ZM上移到零位,同时判断是否发生丢步
// * 7.YSM移动到摇匀位
// * 8.ZM下移动到摇匀位放试管的位置
// * 9.放置试管
// *
// * 夹爪打开（夹爪打开为待机位），ZM,YSM,回零，
// */
//
//
// /**
// * 取试管帽,如果试管帽存在，
// * @param tubeType HighBlood,ShortBlood,Mini,MiniBlood,BulletTube1P5,BulletTube0P5
// * @param judgeCapExist 是否判断试管帽子存在与否
// */
// public A8kEcode takeTube(String tubeType, Boolean judgeCapExist) throws HardwareException, InterruptedException {
// logger.info("takeTube {} {}", tubeType, judgeCapExist);
//
// /*
// * check:
// * 1.当前摇匀模组设计到的电机是否都处于待机位
// *
// * step:
// *
// *
// *
// *
// */
//
//
// var params = this.paramDao;
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getHorizontalMotor_takeCapPos(), params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModClampingM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getTubeClampMotor_standbyPos(), params.getActionOvertime());
//
// var motorUdTubeTaskPos = params.getZMotor_ShortBloodTakeTubeHeight();
// var tubeTypeValue = A8kTubeType.valueOf(tubeType);
// if (tubeTypeValue.equals(A8kTubeType.HighBlood)) {
// motorUdTubeTaskPos = params.getZMotor_HighBloodTakeTubeHeight();
// }
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), motorUdTubeTaskPos, params.getActionOvertime());
//
// if (judgeCapExist) {
// this.canBus.callblockcmd(MId.ShakeModClampingM.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), params.getGripperServo_takeCapTorque(), params.getActionOvertime());
// this.canBus.callcmd(MId.ShakeModGripperSV.toInt(), CmdId.mini_servo_stop.toInt());
// var pos = this.canBus.callcmd(MId.ShakeModGripperSV.toInt(), CmdId.mini_servo_read_pos.toInt());
// if (pos.getContentI32(0) > params.getGripperServo_hatDeterminesPosThres()) {
// return A8kEcode.TubeNotHasHat;
// }
// }
//
// this.canBus.callcmd(MId.ShakeModGripperSV.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), params.getGripperServo_takeCapTorque());
// UfCommon.delay(2000);
//
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), 0, params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getHorizontalMotor_takePushCapPos(), params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getZMotor_placeShakeHeight(), params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModClampingM.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getTubeClampMotor_ClampPos(), params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getGripperServo_standbyPos(), params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), 0, params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getHorizontalMotor_standbyPos(), params.getActionOvertime());
// /*
// 注意事项:
// 1. 取试管并将试管放在试管夹紧位置，同时升降电机和平移电机移动到待机位
// 2. 试管放置的水平高度和其在试管架中的高度保持一直
// 3. 取试管前，先通过试管夹紧功能判断一下试管帽是否存在（在试管没帽的边沿位置，抓手扭矩抓紧，如果等待一定时间后，抓手位置接近极限位置，则认为没有帽子，返回TubeNotHasHat错误）
// 4. 无论是否抓取成功，只要不向外抛出异常，方法结束时，该模块涉及到组件均需要返回待机位置。
// */
// return A8kEcode.Success;
// }
//
// /**
// * 取试管帽
// */
// public A8kEcode takeTubeCap(String tubeType) throws HardwareException, InterruptedException {
// var params = this.paramDao;
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getHorizontalMotor_takePushCapPos(), params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModGripperSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getGripperServo_standbyPos(), params.getActionOvertime());
//
// var motorUdTakeCapPos = params.getZMotor_ShortBloodTakeCapHeight();
// var tubeTypeValue = A8kTubeType.valueOf(tubeType);
// if (tubeTypeValue.equals(A8kTubeType.HighBlood)) {
// motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
// }
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), motorUdTakeCapPos, params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModGripperSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getGripperServo_takeTubePos(), params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), 0, params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getHorizontalMotor_standbyPos(), params.getActionOvertime());
// return A8kEcode.Success;
// }
//
// /**
// * 盖试管帽，并将试管移动回试管架中
// */
// public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException {
// var params = this.paramDao;
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getHorizontalMotor_takePushCapPos(), params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModGripperSV.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getGripperServo_standbyPos(), params.getActionOvertime());
//
// var motorUdTakeCapPos = params.getZMotor_ShortBloodTakeCapHeight();
// var tubeTypeValue = A8kTubeType.valueOf(tubeType);
// if (tubeTypeValue.equals(A8kTubeType.HighBlood)) {
// motorUdTakeCapPos = params.getZMotor_HighBloodTakeCapHeight();
// }
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), motorUdTakeCapPos, params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModGripperSV.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getGripperServo_standbyPos(), params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), 0, params.getActionOvertime());
//
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.step_motor_easy_move_to.toInt(), params.getHorizontalMotor_standbyPos(), params.getActionOvertime());
// }
//
//
// /* =======================================================================================
// 辅助操作
// =======================================================================================*/
//
// /**
// * 摇匀试管
// * @param tubeType HighBlood,ShortBlood,Mini,MiniBlood,BulletTube1P5,BulletTube0P5
// * @param times 摇匀次数
// * @param shakeDegree 摇匀角度
// */
// public void ShakeTube(String tubeType, Integer times, Integer shakeDegree) throws HardwareException, InterruptedException {
// var params = this.paramDao;
// var standByPos = params.getShakeMotor_standbyPos();
// var startPos = standByPos - shakeDegree / 2;
// var endPos = standByPos + shakeDegree / 2;
// this.canBus.callblockcmd(MId.ShakeModShakeM.toInt(), CmdId.step_motor_easy_reciprocating_motion.toInt(), startPos, endPos, times, params.getActionOvertime());
// }
//
// /**
// * 打开气溶胶风扇
// */
// public void openAerosolFan() throws HardwareException {
/**
* 盖试管帽，并将试管移动回试管架中
*/
@PostMapping(value = "/api/SamplesPreProcessModuleCtrlService/pushBackTubeCapAndTakeBakTube")
@ResponseBody
public void pushBackTubeCapAndTakeBakTube(String tubeType) throws HardwareException, InterruptedException {
//移动Y轴到取试管帽位置
logger.info("移动Y轴到取试管帽位置");
canBus.miniServoMoveTo(MId.ShakeModGripperYSV, getGripperShakeYPos());
canBus.waitForMod(MId.ShakeModGripperYSV, getActionOvertime());
actionDelay();
//移动Z轴盖帽
logger.info("移动Z轴盖帽");
canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, getGripperTakeCapZPos() + 10);
canBus.waitForMod(MId.ShakeModGripperZM, getActionOvertime());
actionDelay();
//打开试管夹
logger.info("打开试管夹");
canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, 70);
canBus.waitForMod(MId.ShakeModClampingM, getActionOvertime());
//移动Z轴到零位
logger.info("移动Z轴到零位");
canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0);
canBus.waitForMod(MId.ShakeModGripperZM, getActionOvertime());
//移动Y轴到方式管的位置
logger.info("移动Y轴到方式管的位置");
canBus.miniServoMoveTo(MId.ShakeModGripperYSV, getGripperTakeTubeYPos());
canBus.waitForMod(MId.ShakeModGripperYSV, getActionOvertime());
actionDelay();
//移动Z轴到取试管位置
logger.info("移动Z轴到取试管位置");
canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, getGripperTakeHTubeZPos()-20);
canBus.waitForMod(MId.ShakeModGripperZM, getActionOvertime());
actionDelay();
//打开夹爪
logger.info("打开夹爪");
canBus.miniServoMoveTo(MId.ShakeModGripperSV, getGripperOpenPos());
canBus.waitForMod(MId.ShakeModGripperSV, getActionOvertime());
actionDelay();
//Z轴上移动到零位
logger.info("Z轴上移动到零位");
canBus.stepMotorEasyMoveTo(MId.ShakeModGripperZM, 0);
canBus.waitForMod(MId.ShakeModGripperZM, getActionOvertime());
//设备快速归零
modGroupMoveToZeroQuick();
}
/**
* 打开气溶胶风扇
*/
public void openAerosolFan() throws HardwareException {
// var params = this.paramDao;
// this.canBus.callcmd(MId.WbTubeFanMod.toInt(), CmdId.fan_controler_set_speed.toInt(), params.getAerosolFanLevel());
// }
//
// /**
// * 关闭气溶胶风扇
// */
// public void closeAerosolFan() throws HardwareException {
}
/**
* 关闭气溶胶风扇
*/
public void closeAerosolFan() throws HardwareException {
// this.canBus.callcmd(MId.WbTubeFanMod.toInt(), CmdId.fan_controler_set_speed.toInt(), 0);
// }
//
// /**
// * 设备初始化时复位
// */
// public void moduleResetWhenPowerOn() throws HardwareException, InterruptedException {
// var params = this.paramDao;
// this.canBus.callblockcmd(MId.ShakeModGripperSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getGripperServo_standbyPos(), params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getHorizontalMotor_standbyPos(), params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModClampingM.toInt(), CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
// this.canBus.callblockcmd(MId.ShakeModShakeM.toInt(), CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
// this.canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, params.getTubeClampMotor_standbyPos());
// this.canBus.waitForMod(MId.ShakeModClampingM, params.getActionOvertime());
// this.canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, params.getShakeMotor_standbyPos());
// this.canBus.waitForMod(MId.ShakeModShakeM, params.getActionOvertime());
// }
//
// /**
// * 设备运行时复位
// */
// public void moduleRuntimeReset() throws HardwareException, InterruptedException {
// var params = this.paramDao;
// this.canBus.callblockcmd(MId.ShakeModGripperSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getGripperServo_standbyPos(), params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to.toInt(), 0, params.getMoveToZeroOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperZM.toInt(), CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
// this.canBus.callblockcmd(MId.ShakeModGripperYSV.toInt(), CmdId.mini_servo_move_to.toInt(), params.getHorizontalMotor_standbyPos(), params.getActionOvertime());
// this.canBus.callblockcmd(MId.ShakeModClampingM.toInt(), CmdId.step_motor_easy_move_to.toInt(), 0, params.getMoveToZeroOvertime());
// this.canBus.callblockcmd(MId.ShakeModClampingM.toInt(), CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
// this.canBus.callblockcmd(MId.ShakeModShakeM.toInt(), CmdId.step_motor_easy_move_to.toInt(), 0, params.getMoveToZeroOvertime());
// this.canBus.callblockcmd(MId.ShakeModShakeM.toInt(), CmdId.step_motor_easy_move_to_zero.toInt(), params.getMoveToZeroOvertime());
// this.canBus.stepMotorEasyMoveTo(MId.ShakeModClampingM, params.getTubeClampMotor_standbyPos());
// this.canBus.waitForMod(MId.ShakeModClampingM, params.getActionOvertime());
// this.canBus.stepMotorEasyMoveTo(MId.ShakeModShakeM, params.getShakeMotor_standbyPos());
// this.canBus.waitForMod(MId.ShakeModShakeM, params.getActionOvertime());
// }
//
// public void openTubeClip() throws HardwareException, InterruptedException {
// var params = this.paramDao;
// this.canBus.stepMotorEasyMoveBy(MId.ShakeModClampingM, 10);
// this.canBus.waitForMod(MId.ShakeModClampingM, params.getActionOvertime());
// }
}
}
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