update

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;
+	}
+}

src/main/java/a8k/service/db/dao/MotorParameterDao.java

@@ -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;
-	}
-}

src/main/java/a8k/service/db/entity/MotorParameter.java → src/main/java/a8k/service/db/entity/ModuleParameter.java

@@ -3,7 +3,7 @@ package a8k.service.db.entity;
 import com.iflytop.uf.UfActiveRecord;
 import com.iflytop.uf.UfActiveRecordField;
 
-public class MotorParameter extends UfActiveRecord {
+public class ModuleParameter extends UfActiveRecord {
 	@UfActiveRecordField
 	Integer mid; //模块ID
 
@@ -17,6 +17,9 @@ public class MotorParameter extends UfActiveRecord {
 	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
@@ -24,6 +27,7 @@ public class MotorParameter extends UfActiveRecord {
 
 	@UfActiveRecordField
 	Integer loseStepWarningJudgeDistance; //丢步异常警告距离
+
 	public static String getTableName() {
 		return "MotorParameter" + "Table";
 	}

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。
+
 	}