From d49873b7fc90bde42aa7df615a253d10729fd37c Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 1 Aug 2024 18:24:51 +0800
Subject: [PATCH] update

---
 .../devicectrl/ctrl/SamplesPreProcesCtrl.java      |  18 +++++++++++++++---
 zhaohe_app.db                                      | Bin 188416 -> 188416 bytes
 2 files changed, 15 insertions(+), 3 deletions(-)

diff --git a/src/main/java/a8k/service/devicectrl/ctrl/SamplesPreProcesCtrl.java b/src/main/java/a8k/service/devicectrl/ctrl/SamplesPreProcesCtrl.java
index 34e35d6..89076f3 100644
--- a/src/main/java/a8k/service/devicectrl/ctrl/SamplesPreProcesCtrl.java
+++ b/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
diff --git a/zhaohe_app.db b/zhaohe_app.db
index ec8c70f3e27fa54bc9cd80bcc5eedee308d155ad..a611ec39b9280f67ae2f3cf9f95123e65d7c1350 100644
GIT binary patch
delta 624
zcma)&Jx&8L5Joqf9|%!cYCr;%0-BNR_1GSZ262a!NU_&raR(#<1=P@S3y=_^%`rF!
z4FwI}Ehr(D#)b90vA%b+n%t}=54+{~^Kt(?-?xjqMel7<UR^J1r#xFkP^=ixL<zxY
z0p77zCNK+5Gbf!)NeqYcz3HZn#>W^v2qXy@DS(SQW!6zZSsN?OjBLV83_3!Qu+Fjr
zOpOH;k-<l!z-V4dS5riv^em+YofQ2J$xp@;DzHtBfE*j3#wn0ilMbZ37HUQ&B{HJy
z2ubWoDho}}8c>A*6np?q0Ue@qAs0#ckQBX+Fox4<5S+W`f`GMU$m@Lm#2Ck3piXs0
zs3x^l6ve2T6xDMzsV=II3ak6qqr<Q5<w<|uTSwxk4X)#E*arVl_G@g=2AAuY>bJ>t
m1eM4A`MCA+pO$I%QS9V-9iM$4yboT=a8fGqe)&;8ZTtWcsGE-f

delta 627
zcma)&y-EW?5XUc<L=r<hYZd%RVVZ&6+qvCYY{Yj+DJ1(b&magU7K)`li9(RHc?=PJ
z4h0+cQdsI0Gu8h$|KYb-4;Jge<6ho-e>%8G`*wOaZM{zO>zlcj(#tY1FrfwvMuOF<
z0xK#N%gQ;nW@M$6%%a<!><@d!si<Wo!E1wnCJLaL@*v5wW}}^};)o1mB03vFu@5Du
z^NNE>9exHgLj>B;oQ!wTv-cxrk5-EI20>3E2+tr53P9x~kQWiC6oSbrB!eT;%%nxW
zA*_xeSR`=Dr4mU9PHO?d3yguv=(S57iIAeTA*c-1nYKcJOWy*<it7>w>AX<^(P5k=
zgi2D|S(a@TgRHnL?u$Wz#ar>bJU;r|nUC9(RuhR^b+C!MZXNtX*{`uq9h^5Y)vl9G
o1m&mgNx$~;pO#_rk?p2g_Rqf$SDlyKjaU5DI_a(+KJu&l2j20WHvj+t