V1.0| 添加HBot偏移设置

src/main/java/a8k/app/config/A8kSubModuleInitRegConfig.java

@@ -74,7 +74,7 @@ public class A8kSubModuleInitRegConfig {
 		addRegMarker(ModuleType.HBOT, RegIndex.kreg_xyrobot_default_velocity);
 
 		//TMCStepMotor
-		//		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_shift);
+		// addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_shift);
 		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_shaft);
 		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_one_circle_pulse);
 		addRegMarker(ModuleType.TMCStepMotor, RegIndex.kreg_step_motor_one_circle_pulse_denominator);
@@ -128,7 +128,7 @@ public class A8kSubModuleInitRegConfig {
 		//		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_pos);
 		//		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_is_enable);
 		//		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_dpos);
-		//		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_shift);
+		// addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_shift);
 		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_shaft);
 		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_one_circle_pulse);
 		addRegMarker(ModuleType.PipetteGunCtrl, RegIndex.kreg_pipette_zm_one_circle_pulse_denominator);

src/main/java/a8k/app/config/VersionConfig.java

@@ -0,0 +1,18 @@
+package a8k.app.config;
+
+import jakarta.annotation.PostConstruct;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+@Component
+@Slf4j
+public class VersionConfig {
+	static String version = "1.0";
+
+	@PostConstruct
+	public void init() {
+		log.info("=====================================================================");
+		log.info("= APP VERSION {}", version);
+		log.info("= APP BUILD TIME {}", System.getProperty("build.time"));
+	}
+}

src/main/java/a8k/app/hardware/type/A8kEcode.java

@@ -184,10 +184,12 @@ public enum A8kEcode {
 	LOW_ERROR_PIPETTE_ERROR_VOLUME_ERROR(1419),
 	LOW_ERROR_PIPETTE_ERROR_TIP_ALREADY_LOAD(1420),
 	LOW_ERROR_PIPETTE_ERROR_TIP_LOAD_FAIL(1421),
+	LOW_ERROR_PIPETTE_ERROR_NO_TIP_WHEN_LLD(1422),
 	LOW_ERROR_PIPETTE_ERROR_UNINITED(1501),
 	LOW_ERROR_PIPETTE_ERROR_NOT_LLD_PREPARE(1502),
 	LOW_ERROR_PIPETTE_ERROR_TIPISLOAD_WHEN_LLD_PREPARE(1500),
 	LOW_ERROR_PIPETTE_ERROR_PUMP_LOAD_VAL_IS_NOT_EMPTY(1503),
+
 	LOW_ERROR_STEP_MOTOR_NOT_FOUND_ZERO_POINT(1600),
 	LOW_ERROR_STEP_MOTOR_NOT_GO_ZERO(1601),
 	LOW_ERROR_STEP_MOTOR_OVER_TEMPERATURE(1602),
@@ -222,7 +224,6 @@ public enum A8kEcode {
 	LOW_EXT_ERROR_MOTOR_AT_WRONG_POS(5002),//电机在错误的位置
 	;
 
-
 	public final int index;
 	public       int rawindex = 0;
 

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

@@ -144,7 +144,7 @@ public enum RegIndex {
 	kreg_step_motor_is_enable(10102), // 是否使能
 	kreg_step_motor_dpos(10103), // 执行完上一条指令后的相对位移
 	kreg_step_motor_has_move_zero(10104),  // 是否回零
-	kreg_step_motor_shift(10150), // x偏移
+	// kreg_step_motor_shift(10150), // x偏移
 	kreg_step_motor_shaft(10151), // x轴是否反转
 	kreg_step_motor_one_circle_pulse(10152), // x轴一圈脉冲数
 	kreg_step_motor_one_circle_pulse_denominator(10153), // 设置一圈脉冲数的分母

src/main/java/a8k/app/service/appsetup/A8kSubModuleRegInitService.java

@@ -70,6 +70,7 @@ public class A8kSubModuleRegInitService {
 				dumpAllSubBoardVersion();
 				initA8kModParams();
 				gStateMgrService.setBoardParamInited(true);
+
 				log.info("======================================================");
 				log.info("=         init hardware param success......          =");
 				log.info("======================================================");

src/main/java/a8k/extui/mgr/ExtApiPageGroupCfgMgr.java

@@ -119,6 +119,7 @@ public class ExtApiPageGroupCfgMgr {
 
 		pushMenu(new Menu("子模块管理", ZList.of(
 				new Menu(LowLevelBoardVersionPreviewPage.class, "子模块版本查看"),
+				new Menu(HbotCtrlPage.class, "HBOT控制"),
 				new Menu(PipetteCtrlDriverPage.getPageClass(), "移液抢驱动"),
 				new Menu(PipetteMotorCtrlPage.class, "移液抢电机驱动控制"),
 

src/main/java/a8k/extui/page/driver/HbotCtrlPage.java

@@ -3,10 +3,12 @@ package a8k.extui.page.driver;
 import a8k.app.constant.GearBacklashConstant;
 import a8k.app.hardware.driver.HbotDriver;
 import a8k.app.hardware.driver.PipetteCtrlDriver;
+import a8k.app.hardware.type.HbotRegIndex;
 import a8k.app.hardware.type.PipetteRegIndex;
 import a8k.app.type.a8k.Pos2d;
 import a8k.app.type.a8k.Pos3d;
 import a8k.app.type.exception.AppException;
+import a8k.app.utils.ZJsonNode;
 import a8k.extui.mgr.ExtApiPageMgr;
 import a8k.extui.type.ExtApiStatu;
 import jakarta.annotation.PostConstruct;
@@ -141,6 +143,39 @@ public class HbotCtrlPage {
 	}
 
 
+	public void setReg(HbotRegIndex reg, Integer val) throws AppException {
+		hbotDriver.setReg(reg, val);
+	}
+
+	public Object readAllRegs() throws AppException {
+		ZJsonNode node = new ZJsonNode();
+		for (HbotRegIndex regIndex : HbotRegIndex.values()) {
+			Integer regVal = hbotDriver.getReg(regIndex);
+			log.info("reg {}: {}", regIndex, regVal);
+			node.get(regIndex.name()).set(regVal);
+		}
+		return node.get();
+	}
+
+	public Integer readRegNoEx(HbotRegIndex regIndex) {
+		try {
+			return hbotDriver.getReg(regIndex);
+		} catch (AppException e) {
+			return 0;
+		}
+	}
+
+	public void setShift(Integer xshift, Integer yshift) throws AppException {
+		hbotDriver.setReg(HbotRegIndex.kreg_xyrobot_shift_x, xshift);
+		hbotDriver.setReg(HbotRegIndex.kreg_xyrobot_shift_y, yshift);
+	}
+
+	public void setIRunIHold(Integer iRun, Integer iHold) throws AppException {
+		hbotDriver.setReg(HbotRegIndex.kreg_xyrobot_irun, iRun);
+		hbotDriver.setReg(HbotRegIndex.kreg_xyrobot_ihold, iHold);
+	}
+
+
 	@PostConstruct
 	public void init() {
 		var page = extApiPageMgr.newPage(this);
@@ -154,18 +189,24 @@ public class HbotCtrlPage {
 		page.addFunction("后", this::moveBackward);
 		page.addFunction("左", this::moveLeft);
 		page.addFunction("右", this::moveRight);
-		page.addFunction("移动到", this::moveTo).setParamVal("x", ()->0).setParamVal("y",()-> 0);
+		page.addFunction("移动到", this::moveTo).setParamVal("x", () -> 0).setParamVal("y", () -> 0);
 
 		page.newGroup("Z轴");
 		page.addFunction("设置Z轴相对移动距离", this::setzMotorMoveByDistance).setParamVal("distance", () -> zMotorMoveByDistance);
 		page.addFunction("上", this::zmoveUp);
 		page.addFunction("下", this::zmoveDown);
-		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z", ()->0);
+		page.addFunction("移动到", this::zMotorMoveTo).setParamVal("z", () -> 0);
 
 		page.newGroup("移动到");
 		page.addFunction("移动到", this::measurementMoveTo);
 		page.addFunction("移动到", this::measurementMoveTo);
-		page.addFunction("移动到", this::measurementMoveTo).setParamVal("x", ()->readPosNoEx().x).setParamVal("y",()-> readPosNoEx().y).setParamVal("z", ()->readPosNoEx().z);
+		page.addFunction("移动到", this::measurementMoveTo).setParamVal("x", () -> readPosNoEx().x).setParamVal("y", () -> readPosNoEx().y).setParamVal("z", () -> readPosNoEx().z);
+
+		page.newGroup("读写寄存器");
+		page.addFunction("设置偏移", this::setShift).setParamVal("xshift", () -> readRegNoEx(HbotRegIndex.kreg_xyrobot_shift_x)).setParamVal("yshift", () -> readRegNoEx(HbotRegIndex.kreg_xyrobot_shift_y));
+		page.addFunction("读所有寄存器", this::readAllRegs);
+		page.addFunction("设置寄存器", this::setReg);
+
 
 		extApiPageMgr.addPage(page);
 	}

src/main/java/a8k/extui/page/driver/MotorCtrlPage.java

@@ -161,6 +161,10 @@ public class MotorCtrlPage {
 		stepMotorCtrlDriver.setReg(id, StepMotorRegIndex.kreg_step_motor_one_circle_pulse_denominator, denominator);
 	}
 
+	public void setDZero(Integer dzero) throws AppException {
+		stepMotorCtrlDriver.setReg(id, StepMotorRegIndex.kreg_step_motor_dzero_pos, dzero);
+	}
+
 	public Integer readReg(StepMotorRegIndex reg) {
 		try {
 			return stepMotorCtrlDriver.getReg(id, reg);
@@ -212,6 +216,7 @@ public class MotorCtrlPage {
 		page.addFunction("设置一圈脉冲数", this::setOneCirclePulse)
 				.setParamVal("pulse", () -> readReg(StepMotorRegIndex.kreg_step_motor_one_circle_pulse)).setParamVal("denominator",
 						() -> readReg(StepMotorRegIndex.kreg_step_motor_one_circle_pulse_denominator));
+		page.addFunction("设置DZero", this::setDZero).setParamVal("dzero", () -> readReg(StepMotorRegIndex.kreg_step_motor_dzero_pos));
 
 		page.addFunction("设置寄存器", this::setReg);
 		page.addFunction("读取所有寄存器", this::readAllRegs);

src/main/java/a8k/extui/page/driver/PipetteMotorCtrlPage.java

@@ -126,6 +126,10 @@ public class PipetteMotorCtrlPage {
 		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_one_circle_pulse_denominator, denominator);
 	}
 
+	public void setDZeroPos(Integer dZeroPos) throws AppException {
+		pipetteCtrlDriver.setReg(PipetteRegIndex.kreg_pipette_zm_dzero, dZeroPos);
+	}
+
 	public Integer readReg(PipetteRegIndex reg) {
 		try {
 			return pipetteCtrlDriver.getReg(reg);
@@ -165,16 +169,15 @@ public class PipetteMotorCtrlPage {
 		page.addFunction("设置一圈脉冲数", this::setOneCirclePulse)
 				.setParamVal("pulse", () -> readReg(PipetteRegIndex.kreg_pipette_zm_one_circle_pulse)).setParamVal("denominator",
 						() -> readReg(PipetteRegIndex.kreg_pipette_zm_one_circle_pulse_denominator));
+		page.addFunction("设置DZERO", this::setDZeroPos).setParamVal("dZeroPos", () -> readReg(PipetteRegIndex.kreg_pipette_zm_dzero));
 
 		page.addFunction("设置寄存器", this::setReg);
 		page.addFunction("读取所有寄存器", this::readAllRegs);
 
-
 		page.newGroup("状态");
 		page.addFunction("读取位置", this::readPos);
 		page.addFunction("读取编码器位置", this::readEncPos);
 
-
 		extApiPageMgr.addPage(page);