1、在光谱相机操作基类中添加自动调焦指数，并通过信号发送；

2、将位置-指数写入csv文件，使用Eigen，通过高斯拟合加速实现自动调焦算法；
3、界面兼容老版（张卓）和新版（唐超）的马达控制和自动调焦算法流程，添加采样间隔参数；
4、配置文件备份，自动调焦电机厂商没有导程信息，唐超通过行程算出的，不准确，但完全够用；

cfg_file_backup/HPPA.cfg

@@ -0,0 +1,43 @@
+SN = "2004";
+autoFocus : 
+{
+  PositionRestriction : 
+  {
+    max = 1000;
+    min = 120;
+  };
+  TuningStepSize : 
+  {
+    coarse = 10;
+    fine = 2;
+  };
+  FitParams : 
+  {
+    fa = 0.0017;
+    fb = 0.3277;
+  };
+  AutoFocusRange : 
+  {
+    max = 688;
+    min = 144;
+  };
+};
+motionPlatform : 
+{
+  x : 
+  {
+    StepAnglemar = 1.8;
+    Lead = 1.0;
+    SubdivisionMultiples = 8;
+    ScaleFactor = 1.0;
+    MaxRange = 30.742266;
+  };
+  y : 
+  {
+    StepAnglemar = 1.8;
+    Lead = 1.0;
+    SubdivisionMultiples = 8;
+    ScaleFactor = 1.0;
+    MaxRange = 31.283163;
+  };
+};

cfg_file_backup/oneMotorConfigFile.cfg

@@ -0,0 +1,60 @@
+SN = "0";
+motors : 
+{
+  motor1 : 
+  {
+    platformParams : 
+    {
+      hardwareParams : 
+      {
+        StepAngle = 1.8;
+        Lead = 4.0;
+        ScaleFactor = 1.0;
+      };
+      runParams : 
+      {
+        RecordSpeed = 1.8;
+        MoveSpeed = 1.8;
+        ReturnSpeed = 1.8;
+        MaxRange = 120.0;
+      };
+    };
+    motorParams : 
+    {
+      Manufacturer = 0;
+      CommunicationProtocol = 0;
+      connectionParams : 
+      {
+        SerialPortNumber = "COM10";
+        BaudRate = 9600;
+      };
+      initParams : 
+      {
+        limit : 
+        {
+          msr = 1;
+          msv = 0;
+          psr = 2;
+          psv = 0;
+        };
+        other : 
+        {
+          acc = 20000.0;
+          cra = 4.0;
+          crh = 1.0;
+          crn = 4.0;
+          dec = 20000.0;
+          mcs = 7;
+        };
+        zeroStart : 
+        {
+          osv = 0;
+          snr = 0;
+          zmd = 2;
+          zsd = 3000;
+          zsp = 2400;
+        };
+      };
+    };
+  };
+};

cfg_file_backup/oneMotorConfigFile_focus.cfg

@@ -0,0 +1,60 @@
+SN = "0";
+motors : 
+{
+  motor1 : 
+  {
+    platformParams : 
+    {
+      hardwareParams : 
+      {
+        StepAngle = 1.8;
+        Lead = 1.37;
+        ScaleFactor = 1.0;
+      };
+      runParams : 
+      {
+        RecordSpeed = 1.0;
+        MoveSpeed = 1.0;
+        ReturnSpeed = 1.0;
+        MaxRange = 11.559696;
+      };
+    };
+    motorParams : 
+    {
+      Manufacturer = 0;
+      CommunicationProtocol = 1;
+      connectionParams : 
+      {
+        SerialPortNumber = "COM10";
+        BaudRate = 9600;
+      };
+      initParams : 
+      {
+        limit : 
+        {
+          msr = 1;
+          msv = 1;
+          psr = 2;
+          psv = 1;
+        };
+        other : 
+        {
+          acc = 19200.0;
+          cra = 0.2;
+          crh = 0.0;
+          crn = 0.2;
+          dec = 19200.0;
+          mcs = 6;
+        };
+        zeroStart : 
+        {
+          osv = 1;
+          snr = 0;
+          zmd = 1;
+          zsd = 4000;
+          zsp = 2400;
+        };
+      };
+    };
+  };
+};