update

src/main/java/a8k/service/devicectrl/ctrl/SamplesPreProcesCtrl.java

@@ -96,6 +96,12 @@ public class SamplesPreProcesCtrl {
 	}
 
 
+	void tryClampTube() throws HardwareException, InterruptedException {
+		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos() - 20, timep.getActionOvertime());
+		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
+		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos() - 20, timep.getActionOvertime());
+	}
+
 	/**
 	 * 取试管帽,如果试管帽存在，
 	 * @param highTube true/false
@@ -159,10 +165,12 @@ public class SamplesPreProcesCtrl {
 			canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, gripperTakeTubeZPos, timep.getActionOvertime());
 			//夹爪夹紧
 			canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
+			canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, gripperTakeTubeZPos - 100, timep.getActionOvertime());
+			tryClampTube();
+
 			//Z轴上移动到零位
 			canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
 			//夹爪夹紧
-			canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos() - 10, timep.getActionOvertime());
 			//Y轴移动到摇匀位
 			canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperShakeYPos() - 50, timep.getActionOvertime()); //该动作是为了消除齿轮间隙
 			canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperShakeYPos(), timep.getActionOvertime());
@@ -204,7 +212,8 @@ public class SamplesPreProcesCtrl {
 		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
 		//Z上移动到零位
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos() - 10, timep.getActionOvertime());
+//		tryClampTube();
+
 
 		//Y移动到待机位
 		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperZeroYPos(), timep.getActionOvertime());
@@ -223,7 +232,10 @@ public class SamplesPreProcesCtrl {
 		canBus.stepMotorEasyMoveToBlock(MId.ShakeModClampingM, 70, timep.getActionOvertime());
 		//移动Z轴到零位
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos() - 10, timep.getActionOvertime());
+
+		tryClampTube();
+
+
 		//移动Y轴到方式管的位置
 		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperTakeTubeYPos(), timep.getActionOvertime());
 		//移动Z轴到取试管位置