xyz_stepper_controller:
  category:
  - laiyu_liquid_test
  class:
    action_value_mappings:
      auto-degrees_to_steps:
        feedback: {}
        goal: {}
        goal_default:
          degrees: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                degrees:
                  description: 角度值
                  type: number
              required:
              - degrees
              type: object
            result:
              type: integer
          required:
          - goal
          title: degrees_to_steps参数
          type: object
        type: UniLabJsonCommand
      auto-emergency_stop:
        feedback: {}
        goal: {}
        goal_default:
          axis: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                axis:
                  description: 电机轴
                  type: object
              required:
              - axis
              type: object
            result:
              type: boolean
          required:
          - goal
          title: emergency_stop参数
          type: object
        type: UniLabJsonCommand
      auto-enable_all_axes:
        feedback: {}
        goal: {}
        goal_default:
          enable: true
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                enable:
                  default: true
                  description: True为使能，False为失能
                  type: boolean
              required: []
              type: object
            result:
              additionalProperties:
                type: boolean
              type: object
          required:
          - goal
          title: enable_all_axes参数
          type: object
        type: UniLabJsonCommand
      auto-enable_motor:
        feedback: {}
        goal: {}
        goal_default:
          axis: null
          enable: true
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                axis:
                  description: 电机轴
                  type: object
                enable:
                  default: true
                  description: True为使能，False为失能
                  type: boolean
              required:
              - axis
              type: object
            result:
              type: boolean
          required:
          - goal
          title: enable_motor参数
          type: object
        type: UniLabJsonCommand
      auto-home_all_axes:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result:
              additionalProperties:
                type: boolean
              type: object
          required:
          - goal
          title: home_all_axes参数
          type: object
        type: UniLabJsonCommand
      auto-home_axis:
        feedback: {}
        goal: {}
        goal_default:
          axis: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                axis:
                  description: 电机轴
                  type: object
              required:
              - axis
              type: object
            result:
              type: boolean
          required:
          - goal
          title: home_axis参数
          type: object
        type: UniLabJsonCommand
      auto-move_to_position:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 1000
          axis: null
          position: null
          precision: 100
          speed: 5000
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 1000
                  description: 加速度(rpm/s)
                  type: integer
                axis:
                  description: 电机轴
                  type: object
                position:
                  description: 目标位置(步数)
                  type: integer
                precision:
                  default: 100
                  description: 到位精度
                  type: integer
                speed:
                  default: 5000
                  description: 运行速度(rpm)
                  type: integer
              required:
              - axis
              - position
              type: object
            result:
              type: boolean
          required:
          - goal
          title: move_to_position参数
          type: object
        type: UniLabJsonCommand
      auto-move_to_position_degrees:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 1000
          axis: null
          degrees: null
          precision: 100
          speed: 5000
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 1000
                  description: 加速度
                  type: integer
                axis:
                  description: 电机轴
                  type: object
                degrees:
                  description: 目标角度（度）
                  type: number
                precision:
                  default: 100
                  description: 精度
                  type: integer
                speed:
                  default: 5000
                  description: 移动速度
                  type: integer
              required:
              - axis
              - degrees
              type: object
            result:
              type: boolean
          required:
          - goal
          title: move_to_position_degrees参数
          type: object
        type: UniLabJsonCommand
      auto-move_to_position_revolutions:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 1000
          axis: null
          precision: 100
          revolutions: null
          speed: 5000
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 1000
                  description: 加速度
                  type: integer
                axis:
                  description: 电机轴
                  type: object
                precision:
                  default: 100
                  description: 精度
                  type: integer
                revolutions:
                  description: 目标圈数
                  type: number
                speed:
                  default: 5000
                  description: 移动速度
                  type: integer
              required:
              - axis
              - revolutions
              type: object
            result:
              type: boolean
          required:
          - goal
          title: move_to_position_revolutions参数
          type: object
        type: UniLabJsonCommand
      auto-move_xyz:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 1000
          speed: 5000
          x: null
          y: null
          z: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 1000
                  description: 加速度
                  type: integer
                speed:
                  default: 5000
                  description: 运行速度
                  type: integer
                x:
                  description: X轴目标位置
                  type: integer
                y:
                  description: Y轴目标位置
                  type: integer
                z:
                  description: Z轴目标位置
                  type: integer
              required: []
              type: object
            result:
              additionalProperties:
                type: boolean
              type: object
          required:
          - goal
          title: move_xyz参数
          type: object
        type: UniLabJsonCommand
      auto-move_xyz_degrees:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 1000
          speed: 5000
          x_deg: null
          y_deg: null
          z_deg: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 1000
                  description: 加速度
                  type: integer
                speed:
                  default: 5000
                  description: 移动速度
                  type: integer
                x_deg:
                  description: X轴目标角度（度）
                  type: number
                y_deg:
                  description: Y轴目标角度（度）
                  type: number
                z_deg:
                  description: Z轴目标角度（度）
                  type: number
              required: []
              type: object
            result:
              additionalProperties:
                type: boolean
              type: object
          required:
          - goal
          title: move_xyz_degrees参数
          type: object
        type: UniLabJsonCommand
      auto-move_xyz_revolutions:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 1000
          speed: 5000
          x_rev: null
          y_rev: null
          z_rev: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 1000
                  description: 加速度
                  type: integer
                speed:
                  default: 5000
                  description: 移动速度
                  type: integer
                x_rev:
                  description: X轴目标圈数
                  type: number
                y_rev:
                  description: Y轴目标圈数
                  type: number
                z_rev:
                  description: Z轴目标圈数
                  type: number
              required: []
              type: object
            result:
              additionalProperties:
                type: boolean
              type: object
          required:
          - goal
          title: move_xyz_revolutions参数
          type: object
        type: UniLabJsonCommand
      auto-revolutions_to_steps:
        feedback: {}
        goal: {}
        goal_default:
          revolutions: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                revolutions:
                  description: 圈数
                  type: number
              required:
              - revolutions
              type: object
            result:
              type: integer
          required:
          - goal
          title: revolutions_to_steps参数
          type: object
        type: UniLabJsonCommand
      auto-set_speed_mode:
        feedback: {}
        goal: {}
        goal_default:
          acceleration: 1000
          axis: null
          speed: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acceleration:
                  default: 1000
                  description: 加速度(rpm/s)
                  type: integer
                axis:
                  description: 电机轴
                  type: object
                speed:
                  description: 运行速度(rpm)，正值正转，负值反转
                  type: integer
              required:
              - axis
              - speed
              type: object
            result:
              type: boolean
          required:
          - goal
          title: set_speed_mode参数
          type: object
        type: UniLabJsonCommand
      auto-steps_to_degrees:
        feedback: {}
        goal: {}
        goal_default:
          steps: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                steps:
                  description: 步数
                  type: integer
              required:
              - steps
              type: object
            result:
              type: number
          required:
          - goal
          title: steps_to_degrees参数
          type: object
        type: UniLabJsonCommand
      auto-steps_to_revolutions:
        feedback: {}
        goal: {}
        goal_default:
          steps: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                steps:
                  description: 步数
                  type: integer
              required:
              - steps
              type: object
            result:
              type: number
          required:
          - goal
          title: steps_to_revolutions参数
          type: object
        type: UniLabJsonCommand
      auto-stop_all_axes:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result:
              additionalProperties:
                type: boolean
              type: object
          required:
          - goal
          title: stop_all_axes参数
          type: object
        type: UniLabJsonCommand
      auto-wait_for_completion:
        feedback: {}
        goal: {}
        goal_default:
          axis: null
          timeout: 30.0
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                axis:
                  description: 电机轴
                  type: object
                timeout:
                  default: 30.0
                  description: 超时时间(秒)
                  type: number
              required:
              - axis
              type: object
            result:
              type: boolean
          required:
          - goal
          title: wait_for_completion参数
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
    status_types:
      all_positions: Dict[MotorAxis, MotorPosition]
    type: python
  config_info: []
  description: 新XYZ控制器
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        baudrate:
          default: 115200
          description: 波特率
          type: integer
        port:
          description: 串口端口名
          type: string
        timeout:
          default: 1.0
          description: 通信超时时间
          type: number
      required:
      - port
      type: object
    data:
      properties:
        all_positions:
          additionalProperties:
            type: object
          type: object
      required:
      - all_positions
      type: object
  version: 1.0.0