重构代码，将miniServo相关方法提取出来

src/main/java/a8k/extapi_controler/pagecontrol/ExtApiTabConfig.java

@@ -14,8 +14,9 @@ public enum ExtApiTabConfig {
 	AppReactionResultMgrService("应用数据.反应结果管理", true), //OK
 
 
-	Hbot2DCodeScanPosCalibration("校准.耗材扫描二维码坐标校准", true),
-	TubeTransportPosCalibration("校准.样本平移坐标校准", true),
+	Hbot2DCodeScanPosCalibration("校准.耗材扫描校准", true),
+	TubeScanPosCalibration("校准.试管扫描校准", true),
+	TubePreProcesPosCalibration("校准.试管预处理校准", true),
 
 
 	ActionReactorService("底层调试.单步调试", false),//OK
@@ -31,8 +32,8 @@ public enum ExtApiTabConfig {
 	HardwareCommonCtrl("HardwareCommonCtrl", false),
 	ReactionPlatesTransmitCtrl("ReactionPlatesTransmitCtrl", false),
 	HbotControlService("HbotControlService", false),
-	SamplesPreProcesCtrl("硬件控制.样本预处理模块", false),
-	TubeHolderScanerControler("硬件控制.样本搬运与扫描", false),
+	TubePreProcesControler("硬件控制.样本预处理模块", false),
+	TubeScanerControler("硬件控制.样本搬运与扫描", false),
 	ConsumablesScanCtrlService("硬件控制.耗材扫描", false),
 
 

src/main/java/a8k/hardware/A8kCanBusService.java

@@ -430,79 +430,6 @@ public class A8kCanBusService {
 	// MINI_SERVO
 	//
 
-	public void miniServoEnable(MId id, int enable) throws AppException {
-		callcmd(id.toInt(), CmdId.mini_servo_enable.toInt(), enable);
-	}
-
-	public int miniServoReadPos(MId id) throws AppException {
-		var packet = callcmd(id.toInt(), CmdId.mini_servo_read_pos.toInt());
-		return packet.getContentI32(0);
-	}
-
-
-	public void miniServoActiveCfg(MId id) throws AppException {
-		callcmd(id.toInt(), CmdId.mini_servo_active_cfg.toInt());
-	}
-
-	public void miniServoStop(MId id) throws AppException {
-		callcmd(id.toInt(), CmdId.mini_servo_stop.toInt());
-	}
-
-	public void miniServoSetMidPoint(MId id) throws AppException {
-		callcmd(id.toInt(), CmdId.mini_servo_set_mid_point.toInt());
-	}
-
-	public int miniServoReadIoState(MId id) throws AppException {
-		var packet = callcmd(id.toInt(), CmdId.mini_servo_read_io_state.toInt());
-		return packet.getContentI32(0);
-	}
-
-	public void miniServoMoveTo(MId id, int pos) throws AppException {
-		callcmd(id.toInt(), CmdId.mini_servo_move_to.toInt(), pos);
-	}
-
-	public void miniServoMoveToBlock(MId id, int pos, Integer actionOvertime) throws AppException {
-		miniServoMoveTo(id, pos);
-		waitForMod(id, actionOvertime);
-	}
-
-	public void miniServoRotate(MId id, int direction) throws AppException {
-		callcmd(id.toInt(), CmdId.mini_servo_rotate.toInt(), direction);
-	}
-
-	public void miniServoRotateBlock(MId id, int direction, Integer actionOvertime) throws AppException {
-		miniServoRotate(id, direction);
-		waitForMod(id, actionOvertime);
-	}
-
-	public void miniServoRotateWithTorque(MId id, int torque) throws AppException {
-		callcmd(id.toInt(), CmdId.mini_servo_rotate_with_torque.toInt(), torque);
-	}
-
-	public void miniServoRotateWithTorqueBlock(MId id, int torque, Integer actionOvertime) throws AppException {
-		miniServoRotateWithTorque(id, torque);
-		miniServoWaitIsNotMove(id, actionOvertime);
-	}
-
-	//	kmini_servo_set_cur_pos
-	public void miniServoSetCurPos(MId id, Integer pos) throws AppException {
-		callcmdOvertime(id.toInt(), CmdId.mini_servo_set_cur_pos.toInt(), 5000, pos);
-	}
-
-	public void miniServoWaitIsNotMove(MId id, int acitionOvertime) throws AppException {
-		long startedAt = System.currentTimeMillis();
-		do {
-			var isMove = moduleGetReg(id, RegIndex.kreg_mini_servo_is_move);
-			if (isMove != 0) {
-				break;
-			}
-			long now = System.currentTimeMillis();
-			if (now - startedAt > acitionOvertime) {
-				throw AppException.of(new HardwareError(A8kEcode.LOW_ERROR_OVERTIME, id, null));
-			}
-
-		} while (true);
-	}
 
 	public Boolean priGetIOState(IOId ioid) throws AppException {
 		if (ioid.mtype == ModuleType.kboard) {
@@ -578,6 +505,15 @@ public class A8kCanBusService {
 		} while (true);
 	}
 
+	public A8kPacket callcmd(MId moduleId, CmdId cmdId, Integer... param) throws AppException {
+		return callcmd(moduleId.toInt(), cmdId.toInt(), param);
+	}
+
+	public A8kPacket callcmdOvertime(MId moduleId, CmdId cmdId, Integer overtime, Integer... params) throws AppException {
+		return callcmdOvertime(moduleId.toInt(), cmdId.toInt(), overtime, params);
+	}
+
+
 	public A8kPacket callcmd(Integer moduleId, Integer cmdId, Integer... param) throws AppException {
 		var packet = packParamsToPacket(moduleId, cmdId, List.of(param));
 		return sendCmdAutoResend(packet, A8kPacket.CMD_OVERTIME);

src/main/java/a8k/hardware/type/regindex/RegIndex.java

@@ -188,8 +188,6 @@ public enum RegIndex {
 	kreg_mini_servo_limit_torque(10252), // 限制扭矩
 	kreg_mini_servo_protective_torque(10253), // 保护扭矩
 	kreg_mini_servo_is_move(10254), // 是否在运动
-	kreg_mini_servo_set_mid_point(26119), // 设置中间点
-	kmini_servo_set_cur_pos(26124), // 设置当前位置
 	/***********************************************************************************************************************
 	 * ID_CARD_READER *
 	 ***********************************************************************************************************************/

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/DO_START.java

@@ -6,7 +6,7 @@ import a8k.service.app.appstate.GStateService;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.state.A8kWorkState;
-import a8k.service.app.devicedriver.ctrl.TubeHolderScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
@@ -29,7 +29,7 @@ public class DO_START extends A8kStepAction {
 	GStateService gstate;
 
 	@Resource
-	TubeHolderScanerControler tubeHolderScanerControler;
+	TubeScanerControler tubeScanerControler;
 
 	@Resource
 	AppDebugHelperService appDebugHelper;
@@ -47,7 +47,7 @@ public class DO_START extends A8kStepAction {
 		if (appDebugHelper.isDebug()) {
 			appDebugHelper.doVirtualThings("弹出试管架", 2);
 		} else {
-			tubeHolderScanerControler.ejectTubeHolder();
+			tubeScanerControler.ejectTubeHolder();
 		}
 	}
 

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ1_ENTER_TUBEHOLDER_AND_SCAN.java

@@ -15,7 +15,7 @@ import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.TubeHolder;
 import a8k.service.app.appstate.type.state.TubeHolderState;
 import a8k.service.app.appstate.type.state.TubeState;
-import a8k.service.app.devicedriver.ctrl.TubeHolderScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.TubeHolderScanResult;
 import a8k.type.exception.AppException;
@@ -49,7 +49,7 @@ public class SEQ1_ENTER_TUBEHOLDER_AND_SCAN extends A8kStepAction {
 	@Resource
 	CondtionMgrService  cmgr;
 	@Resource
-	TubeHolderScanerControler stc;
+	TubeScanerControler stc;
 	@Resource
 	AppEventBusService  ebus;
 	@Resource

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ2_SWITCH_TO_THE_NEXT_TUBE.java

@@ -9,7 +9,7 @@ import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.type.TubeHolder;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.appstate.type.state.TubeState;
-import a8k.service.app.devicedriver.ctrl.TubeHolderScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
@@ -41,7 +41,7 @@ public class SEQ2_SWITCH_TO_THE_NEXT_TUBE extends A8kStepAction {
 	@Resource
 	GStateService       gstate;
 	@Resource
-	TubeHolderScanerControler sstc;
+	TubeScanerControler sstc;
 	@Resource
 	CondtionMgrService  cms;
 	@Resource

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ4_PRE_PROCESS.java

@@ -13,8 +13,8 @@ import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.Tube;
 import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
 import a8k.service.app.devicedriver.ctrl.ReactionPlatesTransmitCtrl;
-import a8k.service.app.devicedriver.ctrl.TubeHolderScanerControler;
-import a8k.service.app.devicedriver.ctrl.SamplesPreProcesControler;
+import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubePreProcesControler;
 import a8k.type.ecode.AppError;
 import a8k.type.exception.AppException;
 import a8k.utils.ZFnCall;
@@ -46,7 +46,7 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	GStateService gstate;
 
 	@Resource
-	TubeHolderScanerControler sstc;
+	TubeScanerControler   sstc;
 	@Resource
 	ConsumablesMgrService consumablesMgrService;
 	@Resource
@@ -58,7 +58,7 @@ public class SEQ4_PRE_PROCESS extends A8kStepAction {
 	@Resource
 	ReactionPlatesTransmitCtrl reactionPlatesTransmitCtrl;
 	@Resource
-	SamplesPreProcesControler  samplesPreProcesControler;
+	TubePreProcesControler     tubePreProcesControler;
 	@Resource
 	HbotBaseMoveControler      hbotBaseMoveControler;
 	@Resource

src/main/java/a8k/service/app/appctrl/mainflowctrl/action/SEQ7_EJECT_TUBEHOLDER.java

@@ -7,7 +7,7 @@ import a8k.service.app.appstate.GStateService;
 import a8k.service.app.appstate.type.MainFlowCtrlState;
 import a8k.service.app.appstate.resource.A8kPublicResourceType;
 import a8k.service.app.appstate.type.state.TubeHolderState;
-import a8k.service.app.devicedriver.ctrl.TubeHolderScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.exception.AppException;
 import jakarta.annotation.PostConstruct;
@@ -34,7 +34,7 @@ public class SEQ7_EJECT_TUBEHOLDER extends A8kStepAction {
 	AppDebugHelperService appDebugHelper;
 
 	@Resource
-	TubeHolderScanerControler SST_HControler;
+	TubeScanerControler SST_HControler;
 
 	MainFlowCtrlState state;
 

src/main/java/a8k/service/app/devicedriver/basectrl/MiniServoControler.java

@@ -0,0 +1,91 @@
+package a8k.service.app.devicedriver.basectrl;
+
+import a8k.hardware.A8kCanBusService;
+import a8k.hardware.type.a8kcanprotocol.A8kEcode;
+import a8k.hardware.type.a8kcanprotocol.CmdId;
+import a8k.hardware.type.a8kcanprotocol.MId;
+import a8k.hardware.type.regindex.RegIndex;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMid;
+import a8k.type.ecode.HardwareError;
+import a8k.type.exception.AppException;
+import jakarta.annotation.Resource;
+
+public class MiniServoControler {
+	@Resource
+	A8kCanBusService canBus;
+
+
+	public void miniServoEnable(MiniServoMid id, int enable) throws AppException {
+		canBus.callcmd(id.mid, CmdId.mini_servo_enable, enable);
+	}
+
+	public int miniServoReadPos(MiniServoMid id) throws AppException {
+		var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_pos);
+		return packet.getContentI32(0);
+	}
+
+	public void miniServoActiveCfg(MiniServoMid id) throws AppException {
+		canBus.callcmd(id.mid, CmdId.mini_servo_active_cfg);
+	}
+
+	public void miniServoStop(MiniServoMid id) throws AppException {
+		canBus.callcmd(id.mid, CmdId.mini_servo_stop);
+	}
+
+	public void miniServoSetMidPoint(MiniServoMid id) throws AppException {
+		canBus.callcmd(id.mid, CmdId.mini_servo_set_mid_point);
+	}
+
+	public int miniServoReadIoState(MiniServoMid id) throws AppException {
+		var packet = canBus.callcmd(id.mid, CmdId.mini_servo_read_io_state);
+		return packet.getContentI32(0);
+	}
+
+	public void miniServoMoveTo(MiniServoMid id, int pos) throws AppException {
+		canBus.callcmd(id.mid, CmdId.mini_servo_move_to, pos);
+	}
+
+	public void miniServoMoveToBlock(MiniServoMid id, int pos, Integer actionOvertime) throws AppException {
+		miniServoMoveTo(id, pos);
+		canBus.waitForMod(id.mid, actionOvertime);
+	}
+
+	public void miniServoRotate(MiniServoMid id, int direction) throws AppException {
+		canBus.callcmd(id.mid, CmdId.mini_servo_rotate, direction);
+	}
+
+	public void miniServoRotateBlock(MiniServoMid id, int direction, Integer actionOvertime) throws AppException {
+		miniServoRotate(id, direction);
+		canBus.waitForMod(id.mid, actionOvertime);
+	}
+
+	public void miniServoRotateWithTorque(MiniServoMid id, int torque) throws AppException {
+		canBus.callcmd(id.mid, CmdId.mini_servo_rotate_with_torque, torque);
+	}
+
+	public void miniServoRotateWithTorqueBlock(MiniServoMid id, int torque, Integer actionOvertime) throws AppException {
+		miniServoRotateWithTorque(id, torque);
+		miniServoWaitIsNotMove(id, actionOvertime);
+	}
+
+	//	kmini_servo_set_cur_pos
+	public void miniServoSetCurPos(MiniServoMid id, Integer pos) throws AppException {
+		canBus.callcmdOvertime(id.mid, CmdId.mini_servo_set_cur_pos, 5000, pos);
+	}
+
+	public void miniServoWaitIsNotMove(MiniServoMid id, int acitionOvertime) throws AppException {
+		long startedAt = System.currentTimeMillis();
+		do {
+			var isMove = canBus.moduleGetReg(id.mid, RegIndex.kreg_mini_servo_is_move);
+			if (isMove != 0) {
+				break;
+			}
+			long now = System.currentTimeMillis();
+			if (now - startedAt > acitionOvertime) {
+				throw AppException.of(new HardwareError(A8kEcode.LOW_ERROR_OVERTIME, id.mid, null));
+			}
+
+		} while (true);
+	}
+
+}

src/main/java/a8k/service/app/devicedriver/basectrl/TubeTransportControler.java

@@ -1,20 +1,12 @@
 package a8k.service.app.devicedriver.basectrl;
 
-import a8k.OS;
-import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
-import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
-import a8k.hardware.type.a8kcanprotocol.IOId;
 import a8k.hardware.type.a8kcanprotocol.MId;
-import a8k.service.app.devicedriver.pos.TubeHolderParamMgr;
-import a8k.service.app.devicedriver.pos.TubeTransportPosMgr;
-import a8k.service.bases.AppEventBusService;
-import a8k.service.bases.appevent.AppWarningNotifyEvent;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMid;
+import a8k.service.app.devicedriver.pos.TubeScanPosMgr;
 import a8k.type.TargetPosMeasureDirection;
-import a8k.type.TubeHolderScanResult;
-import a8k.type.TubesScanResult;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
 import org.slf4j.Logger;
@@ -28,9 +20,12 @@ public class TubeTransportControler {
 
 	@Resource
 	A8kCanBusService   canBus;
+	@Resource
+	MiniServoControler miniServoControler;
 
 	@Resource
-	TubeTransportPosMgr tubeTransportPosMgr;
+	TubeScanPosMgr tubeScanPosMgr;
+
 
 	/*=========================================================================================
 	 * 											基础方法
@@ -72,15 +67,17 @@ public class TubeTransportControler {
 
 	@ExtApiFn(name = "扫描夹紧机构夹紧", group = "基础方法", order = 1)
 	public void scanClampModClamp() throws AppException {
-		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
-		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, tubeTransportPosMgr.ScanerClampingSVClampingPos);
+		logger.info("扫描夹紧机构夹紧");
+		miniServoControler.miniServoEnable(MiniServoMid.ShakeModTubeScanerClampingSV, 1);
+		miniServoControler.miniServoMoveTo(MiniServoMid.ShakeModTubeScanerClampingSV, tubeScanPosMgr.ScanerClampingSVClampingPos);
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, overtime);
 	}
 
 	@ExtApiFn(name = "扫描夹紧机构复位", group = "基础方法", order = 2)
 	public void scanClampModRelease() throws AppException {
-		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
-		canBus.miniServoMoveTo(MId.ShakeModTubeScanerClampingSV, tubeTransportPosMgr.ScanerClampingSVReleasePos);
+		logger.info("扫描夹紧机构复位");
+		miniServoControler.miniServoEnable(MiniServoMid.ShakeModTubeScanerClampingSV, 1);
+		miniServoControler.miniServoMoveTo(MiniServoMid.ShakeModTubeScanerClampingSV, tubeScanPosMgr.ScanerClampingSVReleasePos);
 		canBus.waitForMod(MId.ShakeModTubeScanerClampingSV, overtime);
 	}
 

src/main/java/a8k/service/app/devicedriver/basectrl/type/MiniServoMid.java

@@ -0,0 +1,18 @@
+package a8k.service.app.devicedriver.basectrl.type;
+
+import a8k.hardware.type.a8kcanprotocol.MId;
+
+public enum MiniServoMid {
+	ShakeModGripperYSV( MId.ShakeModGripperYSV),//
+	ShakeModGripperSV( MId.ShakeModGripperSV),//
+	ShakeModTubeScanerClampingSV( MId.ShakeModTubeScanerClampingSV),//
+	ShakeModTubeScanerRotateSV( MId.ShakeModTubeScanerRotateSV),//
+	;
+
+	final public MId mid;
+
+	MiniServoMid(MId mid) {
+		this.mid = mid;
+	}
+
+}

src/main/java/a8k/service/app/devicedriver/basectrl/type/MiniServoRegIndex.java

@@ -0,0 +1,23 @@
+package a8k.service.app.devicedriver.basectrl.type;
+
+import a8k.hardware.type.regindex.RegIndex;
+
+public enum MiniServoRegIndex {
+	kreg_module_version(RegIndex.kreg_module_version), // 模块版本
+	kreg_module_type(RegIndex.kreg_module_type), // 模块类型
+	kreg_module_status(RegIndex.kreg_module_status), // 0idle,1busy,2error
+	kreg_module_errorcode(RegIndex.kreg_module_errorcode), // inited_flag
+	kreg_extboard_resetflag(RegIndex.kreg_extboard_resetflag),
+
+	kreg_mini_servo_pos(RegIndex.kreg_mini_servo_pos), // 位置
+	kreg_mini_servo_limit_velocity(RegIndex.kreg_mini_servo_limit_velocity), // 限制速度
+	kreg_mini_servo_limit_torque(RegIndex.kreg_mini_servo_limit_torque), // 限制扭矩
+	kreg_mini_servo_protective_torque(RegIndex.kreg_mini_servo_protective_torque), // 保护扭矩
+	kreg_mini_servo_is_move(RegIndex.kreg_mini_servo_is_move), // 是否在运动
+	;
+	public final RegIndex regIndex;
+
+	MiniServoRegIndex(RegIndex regIndex) {
+		this.regIndex = regIndex;
+	}
+}

src/main/java/a8k/service/app/devicedriver/calibration/PositionCalibration.java

@@ -106,13 +106,13 @@ import org.springframework.stereotype.Component;
 //
 //	@ExtApiStatu(name = "抓手Y轴位置", group = "摇匀模组")
 //	public String getShakeModGripperYPos() throws AppException {
-//		Integer pos = canBus.miniServoReadPos(MId.ShakeModGripperYSV);
+//		Integer pos = miniServoControler.miniServoReadPos(MiniServoMid.ShakeModGripperYSV);
 //		return pos.toString();
 //	}
 //
 //	@ExtApiStatu(name = "抓手位置", group = "摇匀模组")
 //	public String getGripperPos() throws AppException {
-//		Integer pos = canBus.miniServoReadPos(MId.ShakeModGripperSV);
+//		Integer pos = miniServoControler.miniServoReadPos(MiniServoMid.ShakeModGripperSV);
 //		return pos.toString();
 //	}
 //

src/main/java/a8k/service/app/devicedriver/calibration/TubePreProcesPosCalibration.java

@@ -0,0 +1,56 @@
+package a8k.service.app.devicedriver.calibration;
+
+import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
+import a8k.extapi_controler.utils.ExtApiFn;
+import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.hardware.A8kCanBusService;
+import a8k.hardware.type.a8kcanprotocol.MId;
+import a8k.service.app.devicedriver.basectrl.MiniServoControler;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMid;
+import a8k.service.app.devicedriver.pos.TubePreProcesPosMgr;
+import a8k.type.exception.AppException;
+import jakarta.annotation.Resource;
+import org.springframework.stereotype.Component;
+
+@ExtApiTab(cfg = ExtApiTabConfig.TubeScanPosCalibration)
+@Component
+public class TubePreProcesPosCalibration {
+
+	@Resource
+	TubePreProcesPosMgr tubePreProcesPosMgr;
+
+	@Resource
+	A8kCanBusService   canBus;
+	@Resource
+	MiniServoControler miniServoControler;
+
+	//基础工具
+	@ExtApiFn(name = "归零", group = "测试工具", order = 11)
+	public void deviceReset() throws AppException {
+		enableModule();
+		canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, 15000);
+
+	}
+
+	@ExtApiFn(name = "使能相关模块", group = "测试工具", order = 12)
+	public void enableModule() throws AppException {
+		miniServoControler.miniServoEnable(MiniServoMid.ShakeModGripperSV, 1);
+		miniServoControler.miniServoEnable(MiniServoMid.ShakeModGripperYSV, 1);
+		canBus.stepMotorEnable(MId.ShakeModClampingM, 1);
+		canBus.stepMotorEnable(MId.ShakeModGripperZM, 1);
+		canBus.stepMotorEnable(MId.ShakeModShakeM, 1);
+	}
+
+	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
+	public void disableModule() throws AppException {
+		canBus.stepMotorEnable(MId.FeedingModInfeedM, 0);
+		canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0);
+		canBus.stepMotorEnable(MId.FeedingModXM, 0);
+		miniServoControler.miniServoEnable(MiniServoMid.ShakeModTubeScanerClampingSV, 0);
+	}
+
+
+	//标定和校准
+
+
+}

src/main/java/a8k/service/app/devicedriver/calibration/TubeTransportPosCalibration.java → src/main/java/a8k/service/app/devicedriver/calibration/TubeScanPosCalibration.java

@@ -5,28 +5,32 @@ import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.MId;
+import a8k.service.app.devicedriver.basectrl.MiniServoControler;
 import a8k.service.app.devicedriver.basectrl.TubeTransportControler;
-import a8k.service.app.devicedriver.ctrl.TubeHolderScanerControler;
-import a8k.service.app.devicedriver.pos.TubeTransportPosMgr;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMid;
+import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
+import a8k.service.app.devicedriver.pos.TubeScanPosMgr;
 import a8k.type.TubeHolderScanResult;
 import a8k.type.exception.AppException;
 import jakarta.annotation.Resource;
 import org.springframework.stereotype.Component;
 
 
-@ExtApiTab(cfg = ExtApiTabConfig.TubeTransportPosCalibration)
+@ExtApiTab(cfg = ExtApiTabConfig.TubeScanPosCalibration)
 @Component
-public class TubeTransportPosCalibration {
+public class TubeScanPosCalibration {
 
 	@Resource
-	TubeTransportPosMgr tubeTransportPosMgr;
+	TubeScanPosMgr tubeScanPosMgr;
 
 	@Resource
 	A8kCanBusService       canBus;
 	@Resource
-	TubeHolderScanerControler tubeHolderScanerControler;
+	TubeScanerControler    tubeScanerControler;
 	@Resource
 	TubeTransportControler tubeTransportControler;
+	@Resource
+	MiniServoControler     miniServoControler;
 
 	private Integer readFeedingModXMPos() throws AppException {
 		canBus.stepMotorEnable(MId.FeedingModXM, 1);
@@ -35,8 +39,8 @@ public class TubeTransportPosCalibration {
 	}
 
 	@ExtApiFn(name = "获取所有坐标", group = "基础", order = 1)
-	public TubeTransportPosMgr getPoss() throws AppException {
-		return tubeTransportPosMgr;
+	public TubeScanPosMgr getPoss() throws AppException {
+		return tubeScanPosMgr;
 	}
 
 	//	测试工具
@@ -52,7 +56,7 @@ public class TubeTransportPosCalibration {
 		canBus.stepMotorEnable(MId.FeedingModInfeedM, 1);
 		canBus.stepMotorEnable(MId.FeedingModOutfeedM, 1);
 		canBus.stepMotorEnable(MId.FeedingModXM, 1);
-		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 1);
+		miniServoControler.miniServoEnable(MiniServoMid.ShakeModTubeScanerClampingSV, 1);
 	}
 
 	@ExtApiFn(name = "失能相关模块", group = "测试工具", order = 13)
@@ -60,43 +64,43 @@ public class TubeTransportPosCalibration {
 		canBus.stepMotorEnable(MId.FeedingModInfeedM, 0);
 		canBus.stepMotorEnable(MId.FeedingModOutfeedM, 0);
 		canBus.stepMotorEnable(MId.FeedingModXM, 0);
-		canBus.miniServoEnable(MId.ShakeModTubeScanerClampingSV, 0);
+		miniServoControler.miniServoEnable(MiniServoMid.ShakeModTubeScanerClampingSV, 0);
 	}
 
 
 	@ExtApiFn(name = "<平移电机>设置当前位置为<入料位置>", group = "标定", order = 21)
 	public void setTubeHolderEnterXPos() throws AppException {
-		tubeTransportPosMgr.setTubeHolderEnterXPos(readFeedingModXMPos());
+		tubeScanPosMgr.setTubeHolderEnterXPos(readFeedingModXMPos());
 	}
 
 	@ExtApiFn(name = "<平移电机>设置当前位置为<出料位置>", group = "标定", order = 22)
 	public void setTubeHolderExitXPos() throws AppException {
-		tubeTransportPosMgr.setTubeHolderExitXPos(readFeedingModXMPos());
+		tubeScanPosMgr.setTubeHolderExitXPos(readFeedingModXMPos());
 	}
 
 	@ExtApiFn(name = "<平移电机>设置当前位置为<试管架扫描位置>", group = "标定", order = 23)
 	public void setTubeHolderScanXPos() throws AppException {
-		tubeTransportPosMgr.setTubeHolderScanXPos(readFeedingModXMPos());
+		tubeScanPosMgr.setTubeHolderScanXPos(readFeedingModXMPos());
 	}
 
 	@ExtApiFn(name = "<平移电机>设置当前位置为<0号试管扫描位置>", group = "标定", order = 24)
 	public void setTube0ScanXPos() throws AppException {
-		tubeTransportPosMgr.setTube0ScanXPos(readFeedingModXMPos());
+		tubeScanPosMgr.setTube0ScanXPos(readFeedingModXMPos());
 	}
 
 	@ExtApiFn(name = "<平移电机>设置当前位置为<0试管高度判断位置>", group = "标定", order = 25)
 	public void setTube0AltitJudgXPos() throws AppException {
-		tubeTransportPosMgr.setTube0AltitJudgXPos(readFeedingModXMPos());
+		tubeScanPosMgr.setTube0AltitJudgXPos(readFeedingModXMPos());
 	}
 
 	@ExtApiFn(name = "<平移电机>设置当前位置为<0试管存在判断位置>", group = "标定", order = 26)
 	public void setTube0ExistJudgXPos() throws AppException {
-		tubeTransportPosMgr.setTube0ExistJudgXPos(readFeedingModXMPos());
+		tubeScanPosMgr.setTube0ExistJudgXPos(readFeedingModXMPos());
 	}
 
 	@ExtApiFn(name = "<夹紧舵机>设置当前位置为夹紧位置", group = "标定", order = 26)
 	public void setTubeScanClampPos() throws AppException {
-		canBus.miniServoSetCurPos(MId.ShakeModTubeScanerClampingSV, tubeTransportPosMgr.ScanerClampingSVClampingPos);
+		miniServoControler.miniServoSetCurPos(MiniServoMid.ShakeModTubeScanerClampingSV, tubeScanPosMgr.ScanerClampingSVClampingPos);
 	}
 
 
@@ -109,13 +113,14 @@ public class TubeTransportPosCalibration {
 	public void scanClampModRelease() throws AppException {
 		tubeTransportControler.scanClampModRelease();
 	}
+
 	@ExtApiFn(name = "扫描试管架", group = "校验", order = 33)
 	public TubeHolderScanResult scanAll() throws AppException {
-		return tubeHolderScanerControler.scanTubeHodler();
+		return tubeScanerControler.scanTubeHodler();
 	}
 
 	@ExtApiFn(name = "设置<试管扫描伺服力矩(100-1000)>", group = "其他", order = 41)
 	public void setTubeScanServoTorque(Integer torque) throws AppException {
-		tubeTransportPosMgr.setTubeScanServoTorque(torque);
+		tubeScanPosMgr.setTubeScanServoTorque(torque);
 	}
 }

src/main/java/a8k/service/app/devicedriver/commonctrl/HardwareCommonCtrl.java

@@ -2,6 +2,8 @@ package a8k.service.app.devicedriver.commonctrl;
 
 
 import a8k.service.app.devicedriver.basectrl.HbotModule;
+import a8k.service.app.devicedriver.basectrl.MiniServoControler;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMid;
 import a8k.type.exception.AppException;
 import a8k.type.appret.AppRet;
 import a8k.extapi_controler.utils.ExtApiTab;
@@ -32,6 +34,8 @@ public class HardwareCommonCtrl {
 
 	@Resource
 	A8kCanBusService canBus;
+	@Resource
+	MiniServoControler miniServoControler;
 
 	@Resource
 	TimeParam timep;
@@ -87,11 +91,11 @@ public class HardwareCommonCtrl {
 		//进出料初始化
 		canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, timep.getRuntoZeroActionOvertime());
 
-		canBus.miniServoMoveToBlock(MId.ShakeModTubeScanerClampingSV, 20, timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModTubeScanerClampingSV, 20, timep.getActionOvertime());
 
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, 300, timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, 300, timep.getActionOvertime());
 
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, 300, timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, 300, timep.getActionOvertime());
 
 
 		canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModClampingM, timep.getRuntoZeroActionOvertime());

src/main/java/a8k/service/app/devicedriver/ctrl/DeviceInitCtrlService.java

@@ -4,6 +4,8 @@ import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.hardware.type.a8kcanprotocol.IOId;
 import a8k.hardware.type.a8kcanprotocol.MId;
+import a8k.service.app.devicedriver.basectrl.MiniServoControler;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMid;
 import a8k.service.bases.ActionReactorService;
 import a8k.service.debug.AppDebugHelperService;
 import a8k.type.CheckPointType;
@@ -32,6 +34,8 @@ public class DeviceInitCtrlService {
 	HbotModule            hbotModule;
 	@Resource
 	AppDebugHelperService appDebugHelper;
+	@Resource
+	MiniServoControler    miniServoControler;
 
 	Integer          actionOvertime = 10000;
 	List<Checkpoint> checkPoints    = new ArrayList<>();
@@ -87,9 +91,9 @@ public class DeviceInitCtrlService {
 
 		//进出料初始化
 		actionReactor.dosome("入料平移电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.FeedingModXM, actionOvertime));
-		actionReactor.dosome("摇匀模组-扫码夹紧舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModTubeScanerClampingSV, 20, actionOvertime));
-		actionReactor.dosome("摇匀模组-夹爪舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, 300, actionOvertime));
-		actionReactor.dosome("摇匀模组-夹爪Y轴舵机回零", () -> canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, 300, actionOvertime));
+		actionReactor.dosome("摇匀模组-扫码夹紧舵机回零", () -> miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModTubeScanerClampingSV, 20, actionOvertime));
+		actionReactor.dosome("摇匀模组-夹爪舵机回零", () -> miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, 300, actionOvertime));
+		actionReactor.dosome("摇匀模组-夹爪Y轴舵机回零", () -> miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, 300, actionOvertime));
 		actionReactor.dosome("摇匀模组-夹紧电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModClampingM, actionOvertime));
 		actionReactor.dosome("摇匀模组-夹爪Z轴电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModGripperZM, actionOvertime));
 		actionReactor.dosome("摇匀模组-摇匀电机回零", () -> canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModShakeM, actionOvertime));

src/main/java/a8k/service/app/devicedriver/ctrl/SamplesPreProcesControler.java → src/main/java/a8k/service/app/devicedriver/ctrl/TubePreProcesControler.java

@@ -3,6 +3,8 @@ package a8k.service.app.devicedriver.ctrl;
 import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
+import a8k.service.app.devicedriver.basectrl.MiniServoControler;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMid;
 import a8k.type.exception.AppException;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
@@ -18,9 +20,9 @@ import org.springframework.stereotype.Component;
 
 
 @Component
-@ExtApiTab(cfg = ExtApiTabConfig.SamplesPreProcesCtrl)
-public class SamplesPreProcesControler {
-	static Logger logger = LoggerFactory.getLogger(SamplesPreProcesControler.class);
+@ExtApiTab(cfg = ExtApiTabConfig.TubePreProcesControler)
+public class TubePreProcesControler {
+	static Logger logger = LoggerFactory.getLogger(TubePreProcesControler.class);
 
 	static class ORDER {
 
@@ -43,13 +45,15 @@ public class SamplesPreProcesControler {
 	@Resource
 	DebugParam       dp;
 
+	@Resource
+	MiniServoControler miniServoControler;
 	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	//  PRIVATE
 	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
 	private void modGroupMoveToZero() throws AppException {
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperClosePos(), timep.getActionOvertime());
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperZeroYPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperClosePos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperZeroYPos(), timep.getActionOvertime());
 		canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModClampingM, timep.getActionOvertime());
 		canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
 		canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModShakeM, timep.getActionOvertime());
@@ -100,9 +104,9 @@ public class SamplesPreProcesControler {
 
 
 	void tryClampTube() throws AppException {
-		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());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperTakeCapPos() - 20, timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperTakeCapPos() - 20, timep.getActionOvertime());
 	}
 
 	/**
@@ -122,12 +126,12 @@ public class SamplesPreProcesControler {
 		}
 
 		//Y轴在零点附近
-		if (!ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperYSV), pp.getGripperZeroYPos(), 30)) {
+		if (!ZEQ.IntEq(miniServoControler.miniServoReadPos(MiniServoMid.ShakeModGripperYSV), pp.getGripperZeroYPos(), 30)) {
 			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperYSV);
 		}
 
 		//夹爪没有零位置
-		if (!ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), pp.getGripperClosePos(), 30)) {
+		if (!ZEQ.IntEq(miniServoControler.miniServoReadPos(MiniServoMid.ShakeModGripperSV), pp.getGripperClosePos(), 30)) {
 			throw new AppException(A8kEcode.CODEERROR_MOTOR_NOT_IN_ZERO_POS, MId.ShakeModGripperSV);
 		}
 
@@ -143,31 +147,31 @@ public class SamplesPreProcesControler {
 		Integer gripperShakeZPos    = pp.getGripperShakeTubeZPos();
 
 		//固定试管架
-		canBus.miniServoMoveToBlock(MId.ShakeModTubeScanerClampingSV, 900, timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModTubeScanerClampingSV, 900, timep.getActionOvertime());
 		//试管夹紧移动到终点位置
 		canBus.stepMotorEasyMoveToBlock(MId.ShakeModClampingM, 70, timep.getActionOvertime());
 		//试管摇匀移动到90度
 		canBus.stepMotorEasyMoveToBlock(MId.ShakeModShakeM, pp.getShakeModShakeMStandbyPos(), timep.getActionOvertime());
 		//Y轴向前移动
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperTakeTubeYPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperTakeTubeYPos(), timep.getActionOvertime());
 		//打开夹爪
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
 		//				//Z轴下移动到试管帽有无检测位
 		//				canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, gripperJudgeCapZPos, timep.getActionOvertime());
 		//		闭合夹爪检测试管帽是否存在
-		//				canBus.miniServoRotateWithTorque(MId.ShakeModGripperSV, -400);
+		//				miniServoControler.miniServoRotateWithTorque(MiniServoMid.ShakeModGripperSV, -400);
 		//				Thread.sleep(timep.getTubeCapJudgeDelayTime());
-		//				if (ZEQ.IntEq(canBus.miniServoReadPos(MId.ShakeModGripperSV), pp.getGripperClosePos(), 30)) {
+		//				if (ZEQ.IntEq(miniServoControler.miniServoReadPos(MiniServoMid.ShakeModGripperSV), pp.getGripperClosePos(), 30)) {
 		//					logger.info("试管帽不存在");
 		//					tubeCapExist = false;
 		//				}
 		if (dp.getDebugMode() || tubeCapExist) {
 			//打开夹爪
-			canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
+			miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
 			//Z轴下移动到取试管位置
 			canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, gripperTakeTubeZPos, timep.getActionOvertime());
 			//夹爪夹紧
-			canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
+			miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
 			canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, gripperTakeTubeZPos - 100, timep.getActionOvertime());
 			tryClampTube();
 
@@ -175,20 +179,20 @@ public class SamplesPreProcesControler {
 			canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
 			//夹爪夹紧
 			//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());
+			miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperShakeYPos() - 50, timep.getActionOvertime()); //该动作是为了消除齿轮间隙
+			miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperShakeYPos(), timep.getActionOvertime());
 			//Z轴下移动到摇匀位放试管的位置
 			canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, gripperShakeZPos, timep.getActionOvertime());
 			//夹紧试管
 			canBus.stepMotorEasyMoveToBlock(MId.ShakeModClampingM, pp.getShakeClampingPos(), timep.getActionOvertime());
 			//松开夹爪，放置试管
-			canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
+			miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
 			//Z轴上移动到零位
 			canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
 			//Z轴归零,校准一次位置
 			canBus.stepMotorEasyMoveToZeroBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
 			//Y轴移动到零位
-			canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperZeroYPos(), timep.getActionOvertime());
+			miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperZeroYPos(), timep.getActionOvertime());
 		} else {
 			modGroupMoveToZeroQuick();
 		}
@@ -207,20 +211,20 @@ public class SamplesPreProcesControler {
 	@ExtApiFn(name = "取试管帽", group = "单步", order = ORDER.takeTubeCap)
 	public void takeTubeCap() throws AppException {
 		//Y移动到取试管帽位置
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperShakeYPos(), timep.getActionOvertime());
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperShakeYPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
 		//Z下移动到取试管帽位置
 		canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, pp.getGripperTakeCapZPos() + 3, timep.getActionOvertime());
 		//闭合夹爪
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperTakeCapPos(), timep.getActionOvertime());
 		//Z上移动到零位
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
 		//		tryClampTube();
-		//		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperTakeCapPos()-30, timep.getActionOvertime());
+		//		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperTakeCapPos()-30, timep.getActionOvertime());
 
 
 		//Y移动到待机位
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperZeroYPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperZeroYPos(), timep.getActionOvertime());
 	}
 
 	/**
@@ -229,7 +233,7 @@ public class SamplesPreProcesControler {
 	@ExtApiFn(name = "盖试管帽并放回试管架", group = "单步", order = ORDER.pushBackTubeCapAndTakeBakTube)
 	public void pushBackTubeCapAndTakeBakTube() throws AppException {
 		//移动Y轴到取试管帽位置
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperShakeYPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperShakeYPos(), timep.getActionOvertime());
 		//移动Z轴盖帽
 		canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, pp.getGripperTakeCapZPos() + 20, timep.getActionOvertime());
 		//打开试管夹
@@ -241,11 +245,11 @@ public class SamplesPreProcesControler {
 
 
 		//移动Y轴到方式管的位置
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperYSV, pp.getGripperTakeTubeYPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperYSV, pp.getGripperTakeTubeYPos(), timep.getActionOvertime());
 		//移动Z轴到取试管位置
 		canBus.stepMotorEasyMoveToBlock(MId.ShakeModGripperZM, pp.getGripperTakeHTubeZPos() - 20, timep.getActionOvertime());
 		//打开夹爪
-		canBus.miniServoMoveToBlock(MId.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
+		miniServoControler.miniServoMoveToBlock(MiniServoMid.ShakeModGripperSV, pp.getGripperOpenPos(), timep.getActionOvertime());
 		//Z轴上移动到零位
 		canBus.stepMotorEasyMoveToZeroPointQuickBlock(MId.ShakeModGripperZM, timep.getActionOvertime());
 		//设备快速归零

src/main/java/a8k/service/app/devicedriver/ctrl/TubeHolderScanerControler.java → src/main/java/a8k/service/app/devicedriver/ctrl/TubeScanerControler.java

@@ -5,8 +5,10 @@ import a8k.extapi_controler.pagecontrol.ExtApiTabConfig;
 import a8k.extapi_controler.utils.ExtApiFn;
 import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.service.app.devicedriver.basectrl.CodeScaner;
+import a8k.service.app.devicedriver.basectrl.MiniServoControler;
 import a8k.service.app.devicedriver.basectrl.TubeTransportControler;
-import a8k.service.app.devicedriver.pos.TubeTransportPosMgr;
+import a8k.service.app.devicedriver.basectrl.type.MiniServoMid;
+import a8k.service.app.devicedriver.pos.TubeScanPosMgr;
 import a8k.service.app.devicedriver.pos.TubeHolderParamMgr;
 import a8k.service.bases.AppEventBusService;
 import a8k.service.bases.appevent.AppWarningNotifyEvent;
@@ -24,9 +26,9 @@ import org.slf4j.LoggerFactory;
 import org.springframework.stereotype.Component;
 
 @Component
-@ExtApiTab(cfg = ExtApiTabConfig.TubeHolderScanerControler)
-public class TubeHolderScanerControler {
-	static Logger  logger          = LoggerFactory.getLogger(TubeHolderScanerControler.class);
+@ExtApiTab(cfg = ExtApiTabConfig.TubeScanerControler)
+public class TubeScanerControler {
+	static Logger  logger          = LoggerFactory.getLogger(TubeScanerControler.class);
 	static Integer infeedOvertime  = 10000;
 	static Integer outfeedOvertime = 10000;
 	static Integer scanOvertime    = 3000;
@@ -45,13 +47,15 @@ public class TubeHolderScanerControler {
 	@Resource
 	A8kCanBusService   canBus;
 	@Resource
-	TubeTransportPosMgr    stp;
+	TubeScanPosMgr     stp;
 	@Resource
 	TubeHolderParamMgr tubeHolderParamMgr;
 	@Resource
 	CodeScaner             codeScaner;
 	@Resource
 	TubeTransportControler tubeTransportControler;
+	@Resource
+	MiniServoControler miniServoControler;
 
 
 	private Boolean isTubeExist() throws AppException {
@@ -207,7 +211,7 @@ public class TubeHolderScanerControler {
 			tubeTransportControler.scanClampModClamp();
 
 			canBus.codeScanerStartScan(MId.FeedingModScannerMod);
-			canBus.miniServoRotateWithTorque(MId.ShakeModTubeScanerClampingSV, stp.getTubeScanServoTorque());
+			miniServoControler.miniServoRotateWithTorque(MiniServoMid.ShakeModTubeScanerClampingSV, stp.getTubeScanServoTorque());
 			return codeScaner.feedingModScannerModCodeScannerScanCode(scanOvertime);
 		} finally {
 			canBus.moduleStop(MId.ShakeModTubeScanerClampingSV);

src/main/java/a8k/service/app/devicedriver/pos/TubePreProcesPosMgr.java

@@ -0,0 +1,186 @@
+package a8k.service.app.devicedriver.pos;
+
+import a8k.service.db.LowerDeviceParameterDBService;
+import a8k.service.db.utils.PosParameterReader;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.stereotype.Component;
+
+@Component
+public class TubePreProcesPosMgr {
+	static final Logger logger = LoggerFactory.getLogger(TubeScanPosMgr.class);
+
+	public enum POS {
+		GripperServoOpenPos("抓手张开位置"),//
+		GripperServoClosePos("抓手闭合位置"),//
+		GripperServoTakeCapPos("抓手取试管位置"),//
+		YServoTakeTubePos("取试管位置"),//
+		YServoShakePos("摇匀位置"),//
+		YServoZeroYPos("待机位"),//
+		ZMotorTakeHTubePos("取高试管位置"),//
+		ZMotorTakeSTubePos("取低试管位置"),//
+		ZMotorJudgeHTubeCapPos("高试管帽有无判断位"),//
+		ZMotorJudgeSTubeCapPos("低试管帽有无判断位"),//
+		ZMotorShakeTubePos("摇匀放置位置"),//
+		ZMotorTakeCapPos("取试管帽位"),//
+		ShakeClampMotorClampPos("试管夹紧位"),//
+		ShakeClampMotorReleasePos("摇匀臂"),//
+		;
+		public final String chName;
+
+		POS(String chName) {
+			this.chName = chName;
+		}
+	}
+
+	;
+
+	@Resource
+	LowerDeviceParameterDBService lowerDeviceParameterDBService;
+
+	PosParameterReader posReader      = null;
+	Integer            nowParaVersion = 0;
+
+	@PostConstruct
+	void initialize() {
+		posReader = lowerDeviceParameterDBService.getReader(this.getClass());
+		Integer paraVersion = posReader.getVersion();
+		if (!nowParaVersion.equals(paraVersion)) {
+			logger.info("init param");
+			posReader.setVersion(nowParaVersion);
+			posReader.updatePos(POS.GripperServoOpenPos, 450);
+			posReader.updatePos(POS.GripperServoClosePos, 310);
+			posReader.updatePos(POS.GripperServoTakeCapPos, 355);
+			posReader.updatePos(POS.YServoTakeTubePos, 3080);
+			posReader.updatePos(POS.YServoShakePos, 2130);
+			posReader.updatePos(POS.YServoZeroYPos, 300);
+			posReader.updatePos(POS.ZMotorTakeHTubePos, 739);
+			posReader.updatePos(POS.ZMotorTakeSTubePos, 983);
+			posReader.updatePos(POS.ZMotorJudgeHTubeCapPos, 591);
+			posReader.updatePos(POS.ZMotorJudgeSTubeCapPos, 867);
+			posReader.updatePos(POS.ZMotorShakeTubePos, 835);
+			posReader.updatePos(POS.ZMotorTakeCapPos, 835);
+			posReader.updatePos(POS.ShakeClampMotorClampPos, 10);
+			posReader.updatePos(POS.ShakeClampMotorReleasePos, 90);
+		}
+	}
+
+
+	public Integer getParam(POS pos) {
+		return posReader.getPos(pos, Integer.class);
+	}
+
+	public Integer getGripperServoOpenPos() {
+		return getParam(POS.GripperServoOpenPos);
+	}
+
+	public void setGripperServoOpenPos(Integer value) {
+		posReader.updatePos(POS.GripperServoOpenPos, value);
+	}
+
+	public Integer getGripperServoClosePos() {
+		return getParam(POS.GripperServoClosePos);
+	}
+
+	public void setGripperServoClosePos(Integer value) {
+		posReader.updatePos(POS.GripperServoClosePos, value);
+	}
+
+	public Integer getGripperServoTakeCapPos() {
+		return getParam(POS.GripperServoTakeCapPos);
+	}
+
+	public void setGripperServoTakeCapPos(Integer value) {
+		posReader.updatePos(POS.GripperServoTakeCapPos, value);
+	}
+
+	public Integer getYServoTakeTubePos() {
+		return getParam(POS.YServoTakeTubePos);
+	}
+
+	public void setYServoTakeTubePos(Integer value) {
+		posReader.updatePos(POS.YServoTakeTubePos, value);
+	}
+
+	public Integer getYServoShakePos() {
+		return getParam(POS.YServoShakePos);
+	}
+
+	public void setYServoShakePos(Integer value) {
+		posReader.updatePos(POS.YServoShakePos, value);
+	}
+
+	public Integer getYServoZeroYPos() {
+		return getParam(POS.YServoZeroYPos);
+	}
+
+	public void setYServoZeroYPos(Integer value) {
+		posReader.updatePos(POS.YServoZeroYPos, value);
+	}
+
+	public Integer getZMotorTakeHTubePos() {
+		return getParam(POS.ZMotorTakeHTubePos);
+	}
+
+	public void setZMotorTakeHTubePos(Integer value) {
+		posReader.updatePos(POS.ZMotorTakeHTubePos, value);
+	}
+
+	public Integer getZMotorTakeSTubePos() {
+		return getParam(POS.ZMotorTakeSTubePos);
+	}
+
+	public void setZMotorTakeSTubePos(Integer value) {
+		posReader.updatePos(POS.ZMotorTakeSTubePos, value);
+	}
+
+	public Integer getZMotorJudgeHTubeCapPos() {
+		return getParam(POS.ZMotorJudgeHTubeCapPos);
+	}
+
+	public void setZMotorJudgeHTubeCapPos(Integer value) {
+		posReader.updatePos(POS.ZMotorJudgeHTubeCapPos, value);
+	}
+
+	public Integer getZMotorJudgeSTubeCapPos() {
+		return getParam(POS.ZMotorJudgeSTubeCapPos);
+	}
+
+	public void setZMotorJudgeSTubeCapPos(Integer value) {
+		posReader.updatePos(POS.ZMotorJudgeSTubeCapPos, value);
+	}
+
+	public Integer getZMotorShakeTubePos() {
+		return getParam(POS.ZMotorShakeTubePos);
+	}
+
+	public void setZMotorShakeTubePos(Integer value) {
+		posReader.updatePos(POS.ZMotorShakeTubePos, value);
+	}
+
+	public Integer getZMotorTakeCapPos() {
+		return getParam(POS.ZMotorTakeCapPos);
+	}
+
+	public void setZMotorTakeCapPos(Integer value) {
+		posReader.updatePos(POS.ZMotorTakeCapPos, value);
+	}
+
+	public Integer getShakeClampMotorClampPos() {
+		return getParam(POS.ShakeClampMotorClampPos);
+	}
+
+	public void setShakeClampMotorClampPos(Integer value) {
+		posReader.updatePos(POS.ShakeClampMotorClampPos, value);
+	}
+
+	public Integer getShakeClampMotorReleasePos() {
+		return getParam(POS.ShakeClampMotorReleasePos);
+	}
+
+	public void setShakeClampMotorReleasePos(Integer value) {
+		posReader.updatePos(POS.ShakeClampMotorReleasePos, value);
+	}
+}

src/main/java/a8k/service/app/devicedriver/pos/TubeTransportPosMgr.java → src/main/java/a8k/service/app/devicedriver/pos/TubeScanPosMgr.java

@@ -10,8 +10,8 @@ import org.springframework.stereotype.Component;
 
 
 @Component
-public class TubeTransportPosMgr {
-	static final Logger logger = LoggerFactory.getLogger(TubeTransportPosMgr.class);
+public class TubeScanPosMgr {
+	static final Logger logger = LoggerFactory.getLogger(TubeScanPosMgr.class);
 
 	public  final Integer ScanerClampingSVReleasePos  = 100;
 	public  final Integer ScanerClampingSVClampingPos = 1000;

src/main/java/a8k/service/app/devicedriver/testscript/TestScript.java

@@ -7,8 +7,8 @@ import a8k.extapi_controler.utils.ExtApiTab;
 import a8k.type.ConsumableGroup;
 import a8k.type.exception.AppException;
 import a8k.type.IncubatorPos;
-import a8k.service.app.devicedriver.ctrl.SamplesPreProcesControler;
-import a8k.service.app.devicedriver.ctrl.TubeHolderScanerControler;
+import a8k.service.app.devicedriver.ctrl.TubePreProcesControler;
+import a8k.service.app.devicedriver.ctrl.TubeScanerControler;
 import a8k.hardware.A8kCanBusService;
 import a8k.hardware.type.a8kcanprotocol.A8kEcode;
 import a8k.service.app.devicedriver.basectrl.HbotBaseMoveControler;
@@ -58,10 +58,10 @@ public class TestScript {
 	ReactionPlatesTransmitCtrl reactionPlatesTransmitCtrl;
 
 	@Resource
-	SamplesPreProcesControler samplesPreProcesControler;
+	TubePreProcesControler tubePreProcesControler;
 
 	@Resource
-	TubeHolderScanerControler tubeHolderScanerControler;
+	TubeScanerControler tubeScanerControler;
 
 	EnginnerParamReader settingReader = new EnginnerParamReader(HbotBaseMoveControler.class);