From 52516d2f548e0924d4371506bb8b9f62f17789b7 Mon Sep 17 00:00:00 2001
From: tangchao0503 <735056338@qq.com>
Date: Mon, 22 Sep 2025 15:32:42 +0800
Subject: [PATCH] =?UTF-8?q?1=E3=80=811=E8=BD=B4/2=E8=BD=B4=EF=BC=9A?=
 =?UTF-8?q?=E9=87=87=E9=9B=86=E7=99=BD=E6=9D=BF=E5=92=8C=E6=9A=97=E7=94=B5?=
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---
 .gitignore                    |    5 +
 HPPA/CaptureCoordinator.cpp   |  113 +++
 HPPA/CaptureCoordinator.h     |   43 +-
 HPPA/HPPA.cpp                 | 1231 +--------------------------------
 HPPA/HPPA.h                   |  108 ---
 HPPA/HPPA.ui                  |  770 +--------------------
 HPPA/HPPA.vcxproj             |   15 +-
 HPPA/HPPA.vcxproj.filters     |   30 +-
 HPPA/OneMotorControl.cpp      |   24 +
 HPPA/OneMotorControl.h        |    6 +
 HPPA/PathPlan.cpp             |  308 ---------
 HPPA/PathPlan.h               |   37 -
 HPPA/RadianceConversion.ui    |  167 +++++
 HPPA/ReflectanceConversion.ui |  167 +++++
 HPPA/TwoMotorControl.cpp      |   24 +
 HPPA/TwoMotorControl.h        |    6 +
 HPPA/about.ui                 |    2 +-
 17 files changed, 627 insertions(+), 2429 deletions(-)
 delete mode 100644 HPPA/PathPlan.cpp
 delete mode 100644 HPPA/PathPlan.h
 create mode 100644 HPPA/RadianceConversion.ui
 create mode 100644 HPPA/ReflectanceConversion.ui

diff --git a/.gitignore b/.gitignore
index b31d297..068f79b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,10 @@
 # tc
 GeneratedFiles/
+ResononAPISetup-3.12-64bit.exe
+gdal202.dll
+*.rej
+HPPA类图.drawio
+HPPA - 副本.ui
 
 ## Ignore Visual Studio temporary files, build results, and
 ## files generated by popular Visual Studio add-ons.
diff --git a/HPPA/CaptureCoordinator.cpp b/HPPA/CaptureCoordinator.cpp
index 062a09f..596d5f9 100644
--- a/HPPA/CaptureCoordinator.cpp
+++ b/HPPA/CaptureCoordinator.cpp
@@ -601,3 +601,116 @@ void OneMotionCaptureCoordinator::handleError(const QString& error)
 	m_isRunning = false;
 	emit errorOccurred(error);
 }
+
+DarkAndWhiteCaptureCoordinator::DarkAndWhiteCaptureCoordinator(
+	int model,
+	IrisMultiMotorController* motorCtrl,
+	ImagerOperationBase* cameraCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_model(model)
+	, m_motorCtrl(motorCtrl)
+	, m_cameraCtrl(cameraCtrl)
+	, m_isRunning(false)
+{
+	connect(this, SIGNAL(moveTo(int, double, double, int)),
+		m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_motorCtrl, SLOT(move(int, bool, double, int)));
+	connect(this, &DarkAndWhiteCaptureCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &DarkAndWhiteCaptureCoordinator::handleMotorStoped);
+
+	if (m_model == 0)//dark
+	{
+		connect(this, &DarkAndWhiteCaptureCoordinator::startRecordHSISignal,
+			m_cameraCtrl, &ImagerOperationBase::record_dark);
+		connect(m_cameraCtrl, &ImagerOperationBase::RecordDarlFinishSignal,
+			this, &DarkAndWhiteCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+	}
+	else if(m_model == 1)//white
+	{
+		connect(this, &DarkAndWhiteCaptureCoordinator::startRecordHSISignal,
+			m_cameraCtrl, &ImagerOperationBase::record_white);
+		connect(m_cameraCtrl, &ImagerOperationBase::RecordWhiteFinishSignal,
+			this, &DarkAndWhiteCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet);
+	}
+	
+}
+
+DarkAndWhiteCaptureCoordinator::~DarkAndWhiteCaptureCoordinator()
+{
+
+}
+
+void DarkAndWhiteCaptureCoordinator::startStepMotion(double speed)
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (m_isRunning)
+	{
+		return;
+	}
+
+	m_isRunning = true;
+
+	m_speed = speed;
+
+	getLocBeforeStart();
+
+	//移动马达并开始采集高光谱
+	emit moveSignal(0, false, m_speed, 1000);
+	emit startRecordHSISignal();
+}
+
+void DarkAndWhiteCaptureCoordinator::handleCaptureCompleteWhenFrameNumberMeet()
+{
+	emit stopMotorSignal(0);
+}
+
+void DarkAndWhiteCaptureCoordinator::getLocBeforeStart()
+{
+	QEventLoop loop;
+	bool received = false;
+
+	QTimer timer;
+	timer.setSingleShot(true);
+	connect(&timer, &QTimer::timeout, &loop, &QEventLoop::quit);
+
+	QMetaObject::Connection conn = QObject::connect(m_motorCtrl, &IrisMultiMotorController::locationSignal,
+		[&](std::vector<double> pos) {
+			m_locBeforeStart = pos;
+			received = true;
+			loop.quit();
+		});
+
+	QMetaObject::invokeMethod(m_motorCtrl, "getLoc", Qt::QueuedConnection);
+	timer.start(3000);
+
+	loop.exec();
+
+	disconnect(conn);
+}
+
+void DarkAndWhiteCaptureCoordinator::move2LocBeforeStart()
+{
+	std::cout << "\nmove2LocBeforeStart." << std::endl;
+
+	emit moveTo(0, m_locBeforeStart[0], m_speed, 1000);
+
+	m_isRunning = false;
+}
+
+void DarkAndWhiteCaptureCoordinator::handleMotorStoped(int motorID, double pos)
+{
+	QMutexLocker locker(&m_dataMutex);
+
+	if (!m_isRunning) return;
+
+	move2LocBeforeStart();
+}
+
+void DarkAndWhiteCaptureCoordinator::handleCaptureComplete(double index)
+{
+	QMutexLocker locker(&m_dataMutex);
+}
diff --git a/HPPA/CaptureCoordinator.h b/HPPA/CaptureCoordinator.h
index 3b35f15..801dfb0 100644
--- a/HPPA/CaptureCoordinator.h
+++ b/HPPA/CaptureCoordinator.h
@@ -166,4 +166,45 @@ private:
 	std::vector<double> m_locBeforeStart;
 	void getLocBeforeStart();
 	void move2LocBeforeStart();
-};
\ No newline at end of file
+};
+
+class DarkAndWhiteCaptureCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	DarkAndWhiteCaptureCoordinator(int model, IrisMultiMotorController* motorCtrl,
+		ImagerOperationBase* cameraCtrl,
+		QObject* parent = nullptr);
+	~DarkAndWhiteCaptureCoordinator();
+
+public slots:
+	void startStepMotion(double speed);
+
+	void handleCaptureCompleteWhenFrameNumberMeet();
+
+signals:
+	void sequenceComplete(int);
+	void moveTo(int, double, double, int);
+	void moveSignal(int, bool, double, int);
+	void stopMotorSignal(int axis);
+
+	void startRecordHSISignal();
+
+private slots:
+	void handleMotorStoped(int motorID, double pos);
+	void handleCaptureComplete(double index);
+
+private:
+	IrisMultiMotorController* m_motorCtrl;
+	ImagerOperationBase* m_cameraCtrl;
+	mutable QMutex m_dataMutex;
+
+	bool m_isRunning;
+
+	double m_speed;
+	int m_model;//0:dark,1:white
+
+	std::vector<double> m_locBeforeStart;
+	void getLocBeforeStart();
+	void move2LocBeforeStart();
+};
diff --git a/HPPA/HPPA.cpp b/HPPA/HPPA.cpp
index b6a1914..bc516a6 100644
--- a/HPPA/HPPA.cpp
+++ b/HPPA/HPPA.cpp
@@ -17,8 +17,6 @@ HPPA::HPPA(QWidget *parent)
 	QCoreApplication::setOrganizationDomain("iris.com");
 	QCoreApplication::setApplicationName("HPPA");
 
-	
-
 	//�����ļ������û�У��ʹ��������ļ�
 	string HPPACfgFile = getPathofEXE() + "\\HPPA.cfg";
 	mConfigfile.setConfigfilePath(HPPACfgFile);
@@ -51,12 +49,12 @@ HPPA::HPPA(QWidget *parent)
 	mConfigfile.getYMotorParm(StepAnglemar_y, Lead_y, SubdivisionMultiples_y, ScaleFactor_y);*/
 
 	//״̬��
-	xmotor_state_label1 = new QLabel();
-	ymotor_state_label1 = new QLabel();
-	xmotor_state_label1->setText("xMotor");
-	ymotor_state_label1->setText("yMotor");
-	ui.statusBar->addPermanentWidget(xmotor_state_label1);
-	ui.statusBar->addPermanentWidget(ymotor_state_label1);
+	//xmotor_state_label1 = new QLabel();
+	//ymotor_state_label1 = new QLabel();
+	//xmotor_state_label1->setText("xMotor");
+	//ymotor_state_label1->setText("yMotor");
+	//ui.statusBar->addPermanentWidget(xmotor_state_label1);
+	//ui.statusBar->addPermanentWidget(ymotor_state_label1);
 
 
 	connect(this->ui.action_exit, SIGNAL(triggered()), this, SLOT(onExit()));
@@ -129,111 +127,19 @@ HPPA::HPPA(QWidget *parent)
 	ui.IntegratioinTimeSlider->setEnabled(false);
 	ui.GainSlider->setEnabled(false);
 
-
-
-	
-	m_xMotor = nullptr;
-	m_yMotor = nullptr;
-	
-
-
-	//m_TestXmotorStausThread = new MotorWorkerThread(m_xMotor);
-	//m_TestXmotorStausThread->start();
-
 	startTimer(1000);
 
-
-	m_lManualSpeedOfXMotor = 6000 * 4 * 2;
-	m_lManualSpeedOfYMotor = 6000 * 4;//�Ϻ�ũ��Ժ��20000
-
-	connect(this->ui.motor_reset_btn, SIGNAL(clicked()), this, SLOT(onMotorReset()));
-
-	connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
-	connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-	connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
-	connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-
-	connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorForward()));
-	connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
-	connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorBackward()));
-	connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
-
-	//�ٶ�
-	//QRegExp rx("\\d{0,3}.[1-9]$");
-	QRegExp rx("^\\d+(\\.\\d+)?$");
-	ui.xmotor_speed_lineEdit->setValidator(new QRegExpValidator(rx));
-
-	//��ȡ�����ļ�
-	float lead;//����
-	float stepAnglemar;//�����
-	float scaleFactor;//���еװ�õ�ԭ���������������
-	int subdivisionMultiples;//ϸ����
-	float maxRange;
-	mConfigfile.getXMotorParm(stepAnglemar, lead, subdivisionMultiples, scaleFactor, maxRange);
-
-	ui.xmotor_speed_slider->setMultiplier(lead, stepAnglemar, scaleFactor, subdivisionMultiples);
-	ui.xmotor_speed_slider->setRange(0, 3);//5.2734375cm/s=10000����
-	ui.xmotor_speed_slider->setValue(1);
-	connect(this->ui.xmotor_speed_lineEdit, SIGNAL(editingFinished()), this, SLOT(OnXmotorSpeedLineeditEditingFinished()));
-	//connect(this->ui.xmotor_speed_lineEdit, SIGNAL(editingFinished()), this, SLOT(OnXmotorSpeedEditingFinished()));//��ͨ���˷�ʽΪ���������ٶȣ�ÿ�ε���ɼ��󣬶����ȡ������ٶȣ�Ȼ������
-	connect(this->ui.xmotor_speed_slider, SIGNAL(valueChanged(double)), this, SLOT(OnXmotorSpeedSliderChanged(double)));
-
-	connect(this->ui.xmotor_location_lineEdit, SIGNAL(editingFinished()), this, SLOT(OnXmotorLocationLineeditEditingFinished()));
-	connect(this->ui.xmotor_location_slider, SIGNAL(valueChanged(double)), this, SLOT(OnXmotorLocationSliderChanged(double)));
-	connect(this->ui.xmotor_location_slider, SIGNAL(sliderReleased()), this, SLOT(OnXmotorLocationSliderReleased()));
-	ui.xmotor_location_slider->setMultiplier(lead, stepAnglemar, scaleFactor, subdivisionMultiples);
-	ui.xmotor_location_slider->setValue(0);
-
-	mConfigfile.getYMotorParm(stepAnglemar, lead, subdivisionMultiples, scaleFactor, maxRange);
-	connect(this->ui.ymotor_location_lineEdit, SIGNAL(editingFinished()), this, SLOT(OnYmotorLocationLineeditEditingFinished()));
-	connect(this->ui.ymotor_location_slider, SIGNAL(valueChanged(double)), this, SLOT(OnYmotorLocationSliderChanged(double)));
-	connect(this->ui.ymotor_location_slider, SIGNAL(sliderReleased()), this, SLOT(OnYmotorLocationSliderReleased()));
-	ui.ymotor_location_slider->setMultiplier(lead, stepAnglemar, scaleFactor, subdivisionMultiples);
-	ui.ymotor_location_slider->setValue(0);
-
-
-
-	m_timerLocationFeedBackOfMotor_x_y = new QTimer();
-	connect(m_timerLocationFeedBackOfMotor_x_y, SIGNAL(timeout()), this, SLOT(ontimerLocationFeedBackOfMotor_x_y()));
-
-	m_timerYmotorLocationFeedBackAfterRecord = new QTimer();
-	connect(m_timerYmotorLocationFeedBackAfterRecord, SIGNAL(timeout()), this, SLOT(ontimerYmotorLocationFeedBackAfterRecord()));
-
-	//�������̲���
-	connect(this->ui.test_range_btn, SIGNAL(clicked()), this, SLOT(ontestRangeOfMotor_x_y()));
-	m_timerTestRangeOfxMotor = new QTimer();
-	connect(m_timerTestRangeOfxMotor, SIGNAL(timeout()), this, SLOT(ontimerTestRangeOfxMotor()));
-	m_timerTestRangeOfyMotor = new QTimer();
-	connect(m_timerTestRangeOfyMotor, SIGNAL(timeout()), this, SLOT(ontimerTestRangeOfyMotor()));
-
 	widthScale = 1;
 	heightScale = 1;
 
 	//����λ��ģ��
 	connect(ui.graphicsView->imager, SIGNAL(leftMouseButtonPressed(int, int)), this, SLOT(onimagerSimulatorMove(int, int)));
 
-	//
-	m_ForLoopControlThread = new QThread();
-	m_ForLoopControl = new ForLoopControl();
-	m_ForLoopControl->moveToThread(m_ForLoopControlThread);
-	m_ForLoopControlThread->start();
-
-
-	//connect(this->ui.action_start_recording, SIGNAL(triggered()), m_ForLoopControl, SLOT(startLoop()));//���ں���onconnect��
-	connect(m_ForLoopControl, SIGNAL(recordSignal(int)), this, SLOT(onStartRecordStep2(int)));
-
-
-
-	m_timerMoveXmotor = new QTimer();
-	connect(m_timerMoveXmotor, SIGNAL(timeout()), this, SLOT(ontimerMoveXmotor()));
-	m_timerMoveYmotor = new QTimer();
-	connect(m_timerMoveYmotor, SIGNAL(timeout()), this, SLOT(ontimerMoveYmotor()));
 
 
 	//
 	ui.ImageViewerTabWidget->clear();//���������ǰ�棬����ɾ�����е�tab
 	//ui.ImageViewerTabWidget->setTabsClosable(true);//����ÿҳ�����йرհ�ť
-	connect(m_ForLoopControl, SIGNAL(recordSignal(int)), this, SLOT(onCreateTab(int)));//��tabWidget���½�һ��tab��������ʾͼ��
 	connect(ui.ImageViewerTabWidget, SIGNAL(currentChanged(int)), this, SLOT(onTabWidgetCurrentChanged(int)));
 
 	//
@@ -258,15 +164,6 @@ HPPA::HPPA(QWidget *parent)
 	//QLineSeries *series = new QLineSeries();
 	//QChart *chart = new QChart();
 	mPanelMenu->addAction(ui.mDockWidgetSpectralViewer->toggleViewAction());
-
-	//�켣�滮
-	m_pathPlan = new PathPlan(m_xMotor, m_yMotor, ui.xmotor_location_slider, ui.ymotor_location_slider);
-	QDockWidget* dock_pathPlan = new QDockWidget(QString::fromLocal8Bit("�켣�滮"), this);
-	dock_pathPlan->setObjectName("mDockPathPlan");
-	dock_pathPlan->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
-	dock_pathPlan->setWidget(m_pathPlan);
-	tabifyDockWidget(ui.mDockWidgetLinearStage, dock_pathPlan);
-	mPanelMenu->addAction(dock_pathPlan->toggleViewAction());
 	
 	//������dock
 	adjustTable* adt = new adjustTable();
@@ -275,7 +172,7 @@ HPPA::HPPA(QWidget *parent)
 	dock_adt->setObjectName("mDockAdjustTable");
 	dock_adt->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
 	dock_adt->setWidget(adt);
-	tabifyDockWidget(dock_pathPlan, dock_adt);
+	tabifyDockWidget(ui.mDockWidgetSpectrometer, dock_adt);
 	mPanelMenu->addAction(dock_adt->toggleViewAction());
 
 	//��Դ����
@@ -287,8 +184,6 @@ HPPA::HPPA(QWidget *parent)
 	dock_pc->setWidget(pc);
 	tabifyDockWidget(dock_adt, dock_pc);
 	mPanelMenu->addAction(dock_pc->toggleViewAction());
-	connect(pc, &PowerControl::powerOpened, this, &HPPA::newMotor);
-	connect(pc, &PowerControl::powerClosed, this, &HPPA::deleteMotor);
 
 	//��е�ۿ���
 	rac = new RobotArmControl();
@@ -413,7 +308,6 @@ void HPPA::createMoveplatformActionGroup()
 {
 	moveplatformActionGroup = new QActionGroup(this);
 	moveplatformActionGroup->addAction(ui.mAction_is_no_motor);
-	moveplatformActionGroup->addAction(ui.mAction_2AxisMotor);
 	moveplatformActionGroup->addAction(ui.mAction_RobotArm);
 	moveplatformActionGroup->addAction(ui.mAction_1AxisMotor);
 	moveplatformActionGroup->addAction(ui.mAction_2AxisMotor_new);
@@ -427,10 +321,6 @@ void HPPA::createMoveplatformActionGroup()
 	{
 		ui.mAction_is_no_motor->setChecked(true);
 	}
-	else if (lastSelectedAction == "mAction_2AxisMotor")
-	{
-		ui.mAction_2AxisMotor->setChecked(true);
-	}
 	else if (lastSelectedAction == "mAction_RobotArm")
 	{
 		ui.mAction_RobotArm->setChecked(true);
@@ -468,24 +358,10 @@ HPPA::~HPPA()
 		//m_Imager->~ResononNirImager();//�ͷ���Դ
 		delete m_Imager;
 	}
-
-	if (m_xMotor != nullptr && m_yMotor != nullptr)
-	{
-		if (isMotorConnected(m_xMotor))
-		{
-			m_xMotor->StopMotormove();
-		}
-		if (isMotorConnected(m_yMotor))
-		{
-			m_yMotor->StopMotormove();
-		}
-	}
 }
 
 void HPPA::initPanelToolbar()
 {
-	tabifyDockWidget(ui.mDockWidgetSpectrometer, ui.mDockWidgetLinearStage);
-
 	mPanelMenu = new QMenu(QString::fromLocal8Bit("���"), this);//create panel menu
 	mPanelMenu->setObjectName(QStringLiteral("mPanelMenu"));
 	mToolbarMenu = new QMenu(QString::fromLocal8Bit("������"), this);//create toolbar menu
@@ -496,7 +372,6 @@ void HPPA::initPanelToolbar()
 	ui.mWindowsMenu->addMenu(mToolbarMenu);
 
 	mPanelMenu->addAction(ui.mDockWidgetSpectrometer->toggleViewAction());
-	mPanelMenu->addAction(ui.mDockWidgetLinearStage->toggleViewAction());
 	
 	mPanelMenu->addAction(ui.mDockWidgetRGBCamera->toggleViewAction());
 	mPanelMenu->addAction(ui.mDockWidgetSimulator->toggleViewAction());
@@ -649,78 +524,6 @@ void HPPA::onStartRecordStep1()
 		}
 		return;
 	}
-	else if (checkedName == "mAction_2AxisMotor")
-	{
-		//ȷ��x��������λ�� С�� x�������ɼ�����λ��
-		int validLineCount = 0;
-		for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
-		{
-			//xx = xx + ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble();
-
-			if (ui.xmotor_location_slider->value() < m_pathPlan->getRecordLineTableWidget()->item(i, 1)->text().toDouble())
-			{
-				validLineCount++;
-			}
-
-		}
-
-		if (validLineCount < m_pathPlan->getRecordLineTableWidget()->rowCount())
-		{
-			QMessageBox::information(this, QString::fromLocal8Bit("��ʾ"), QString::fromLocal8Bit("�켣x������λ����"));
-			return;
-		}
-
-		//ȷ���ɼ��ߴ���
-		if (m_pathPlan->getRecordLineTableWidget()->rowCount() <= 0)
-		{
-			QMessageBox::information(this, QString::fromLocal8Bit("��ʾ"), QString::fromLocal8Bit("�������ɹ켣��"));
-			return;
-		}
-
-		//��ʼ�ɼ�
-		m_RecordState += 1;
-
-		if (m_RecordState % 2 == 1)
-		{
-			//
-			operateWidget = QObject::sender()->objectName();
-
-			//ɾ������tab
-			ui.ImageViewerTabWidget->clear();
-
-			m_hTimesFile = fopen(x_location.c_str(), "w+");
-
-			m_Imager->setFileName2Save(imgPath);
-
-			//��ʼѭ��
-			m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ�������߳�����ѭ������
-			emit StartLoopSignal();
-
-
-			//����������Ϊ��ɫ
-			for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
-			{
-				for (size_t j = 0; j < m_pathPlan->getRecordLineTableWidget()->columnCount(); j++)
-				{
-					m_pathPlan->getRecordLineTableWidget()->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
-				}
-			}
-
-			ui.action_start_recording->setText(QString::fromLocal8Bit("ֹͣ�ɼ�"));
-			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(255,0,0);}");
-		}
-		else
-		{
-			m_Imager->setRecordControlState(false);//������ֹͣ�ɼ�
-
-			m_ForLoopControl->m_boolQuitLoop = true;//ѭ��ֹͣ
-
-			ui.action_start_recording->setText(QString::fromLocal8Bit("�ɼ�"));
-			ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
-		}
-
-		return;
-	}
 	else if (checkedName == "mAction_2AxisMotor_new")
 	{
 		m_RecordState += 1;
@@ -761,60 +564,6 @@ void HPPA::onStartRecordStep1()
 	}
 }
 
-void HPPA::onStartRecordStep2(int lineNumber)
-{
-	if (m_xMotor == nullptr && m_yMotor == nullptr)
-	{
-		return;
-	}
-
-	if (lineNumber >= 0)
-	{
-		m_numberOfRecording = lineNumber;
-	}
-
-	if (lineNumber >= 0)
-	{
-		//��ʼ�ƶ�y�������x�����ƶ��͹����Dzɼ��Ĵ���Ҳ��������
-		double pos = m_pathPlan->getRecordLineTableWidget()->item(lineNumber, 0)->text().toDouble();
-		m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
-		m_yMotor->MoveToLocation(ui.ymotor_location_slider->getPositionPulse(pos));
-		m_timerMoveYmotor->start(500);
-
-		//�����ڲɼ���������Ϊ��ɫ
-		for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->columnCount(); i++)
-		{
-			m_pathPlan->getRecordLineTableWidget()->item(lineNumber, i)->setBackgroundColor(QColor(255, 0, 0));
-		}
-	}
-	else if (lineNumber == -1)
-	{
-		std::cout << "�����Զ���ֹ�ɼ���" << std::endl;
-		m_RecordState += 1;
-
-		ui.action_start_recording->setText(QString::fromLocal8Bit("�ɼ�"));
-		ui.mainToolBar->widgetForAction(ui.action_start_recording)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
-
-		//��y�����ƶ�����һ���ɼ��ߵ�λ��
-		double ymotorPositionOfLine1Tmp = m_pathPlan->getRecordLineTableWidget()->item(0, 0)->text().toDouble();
-		long ymotorPositionOfLine1 = ui.ymotor_location_slider->getPositionPulse(ymotorPositionOfLine1Tmp);
-		m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
-		m_yMotor->MoveToLocation(ymotorPositionOfLine1);
-		m_timerYmotorLocationFeedBackAfterRecord->start(500);
-
-		fclose(m_hTimesFile);
-	}
-	else if (lineNumber == -2)
-	{
-		std::cout << "�ֶ���ֹ�ɼ���" << std::endl;
-
-		//ֹͣy�����˶�
-		m_yMotor->StopMotormove();
-
-		fclose(m_hTimesFile);
-	}
-}
-
 void HPPA::onCreateTab(int trackNumber)
 {
 	if (trackNumber >= 0)
@@ -1029,275 +778,6 @@ void HPPA::onLeftMouseButtonPressed(int x, int y)
 
 void HPPA::timerEvent(QTimerEvent *event)
 {
-	try
-	{
-		if (m_xMotor == nullptr || m_yMotor == nullptr)
-		{
-			//qDebug() << "Motor pointer is null!!!!!";
-
-			xmotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
-			SetXMotorWidgetEnable(false);
-
-			ymotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
-			SetYMotorWidgetEnable(false);
-
-			return;
-		}
-
-		if (!m_xMotor->IsMotorInit)
-		{
-			//return;
-
-		}
-		ByteBack xMotorState = m_xMotor->GetState();//ִ��������
-
-		//std::cout << "------------------------------------------x�����ٶȣ�" << xMotorState.Speed << std::endl;
-
-		if (xMotorState.Speed == -1000000)
-		{
-			xmotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
-			SetXMotorWidgetEnable(false);
-			//std::cout << "xMotor: false��" << std::endl;
-		}
-		else
-		{
-			m_xConnectCount++;
-			if (m_xConnectCount == 1)//��һ������������õ���
-			{
-				m_xMotor->SendCommandtoMotor("cfg crn=3\n");
-			}
-
-			xmotor_state_label1->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
-			SetXMotorWidgetEnable(true);
-			//std::cout << "xMotor: ok��" << std::endl;
-		}
-
-
-		ByteBack yMotorState = m_yMotor->GetState();
-
-		//std::cout << "------------------------------------------�����ٶȣ�" << x.Speed << std::endl;
-
-		if (yMotorState.Speed == -1000000)
-		{
-			ymotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
-			SetYMotorWidgetEnable(false);
-			//std::cout << "yMotor: false��" << std::endl;
-		}
-		else
-		{
-			m_yConnectCount++;
-			if (m_yConnectCount == 1)//��һ������������õ���
-			{
-				m_yMotor->SendCommandtoMotor("cfg crn=2\n");
-			}
-
-			ymotor_state_label1->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
-			SetYMotorWidgetEnable(true);
-			//std::cout << "yMotor: ok��" << std::endl;
-		}
-
-
-	}
-	catch (...)
-	{
-
-	}
-}
-
-void HPPA::onxMotorLeft()
-{
-	m_timerLocationFeedBackOfMotor_x_y->start(500);
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	m_xMotor->EnableMotro();
-	m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-	//m_xMotor->SettingSpeed(ui.xmotor_speed_lineEdit->text().toLong());
-	m_xMotor->MoveMotar(false);
-}
-
-void HPPA::onxMotorRight()
-{
-	m_timerLocationFeedBackOfMotor_x_y->start(500);
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	m_xMotor->EnableMotro();
-	m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-	//m_xMotor->SettingSpeed(ui.xmotor_speed_lineEdit->text().toLong());
-	m_xMotor->MoveMotar(true);
-}
-
-void HPPA::onxMotorStop()
-{
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	m_timerLocationFeedBackOfMotor_x_y->stop();
-	m_xMotor->StopMotormove();
-}
-
-void HPPA::onyMotorForward()
-{
-	operateWidget = QObject::sender()->objectName();
-
-	m_timerLocationFeedBackOfMotor_x_y->start(500);
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	m_yMotor->EnableMotro();
-	m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
-	//m_yMotor->SettingSpeed(ui.xmotor_speed_lineEdit->text().toLong());
-	m_yMotor->MoveMotar(true);
-}
-
-void HPPA::onyMotorBackward()
-{
-	operateWidget = QObject::sender()->objectName();
-
-	m_timerLocationFeedBackOfMotor_x_y->start(500);
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	m_yMotor->EnableMotro();
-	m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
-	//m_yMotor->SettingSpeed(ui.xmotor_speed_lineEdit->text().toLong());
-	m_yMotor->MoveMotar(false);
-}
-
-void HPPA::onyMotorStop()
-{
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	m_timerLocationFeedBackOfMotor_x_y->stop();
-	m_yMotor->StopMotormove();
-}
-
-void HPPA::onMotorReset()
-{
-	setMotorRange();
-
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	m_xMotor->SettingZeroLocation();
-	m_yMotor->SettingZeroLocation();
-
-
-}
-
-void HPPA::OnXmotorSpeedEditingFinished()
-{
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	m_xMotor->SettingSpeed(ui.xmotor_speed_lineEdit->text().toLong());
-}
-
-
-bool HPPA::isMotorConnected(VinceControl *motor)
-{
-	ByteBack x = motor->GetState();
-
-	//std::cout << "------------------------------------------�����ٶȣ�" << x.Speed << std::endl;
-
-	if (x.Speed == -1000000)
-	{
-		return true;
-	}
-	else
-	{
-		return false;
-	}
-}
-
-void HPPA::SetXMotorWidgetEnable(bool enable)
-{
-	ui.test_range_btn->setEnabled(enable);
-	ui.motor_reset_btn->setEnabled(enable);
-
-	ui.xmotor_left_btn->setEnabled(enable);
-	ui.xmotor_right_btn->setEnabled(enable);
-	ui.xmotor_speed_lineEdit->setEnabled(enable);
-	ui.xmotor_speed_slider->setEnabled(enable);
-	ui.xmotor_location_lineEdit->setEnabled(enable);
-	ui.xmotor_location_slider->setEnabled(enable);
-}
-
-void HPPA::SetYMotorWidgetEnable(bool enable)
-{
-	ui.test_range_btn->setEnabled(enable);
-	ui.motor_reset_btn->setEnabled(enable);
-
-	ui.ymotor_forward_btn->setEnabled(enable);
-	ui.ymotor_backward_btn->setEnabled(enable);
-	ui.ymotor_location_lineEdit->setEnabled(enable);
-	ui.ymotor_location_slider->setEnabled(enable);
-}
-
-void HPPA::setMotorRange()
-{
-	try
-	{
-		//��x�������̼�¼���ļ����Ա����ʹ�� �� ����ÿ�ζ��������̣��������˷�ʱ��
-		float xMotorRange;
-		float yMotorRange;
-
-		float lead;//����
-		float stepAnglemar;//�����
-		float scaleFactor;//���еװ�õ�ԭ���������������
-		int subdivisionMultiples;//ϸ����
-
-		mConfigfile.getXMotorParm(stepAnglemar, lead, subdivisionMultiples, scaleFactor, xMotorRange);
-		mConfigfile.getYMotorParm(stepAnglemar, lead, subdivisionMultiples, scaleFactor, yMotorRange);
-
-
-		//std::cout << "xMotorRange��" << xMotorRange << std::endl;
-		//std::cout << "yMotorRange��" << yMotorRange << std::endl;
-
-
-		//����x���ﷶΧ
-		ui.xmotor_location_slider->setMaximum(xMotorRange);
-		ui.xmotor_max_location_label->setText(QString::number(ui.xmotor_location_slider->maximum()));
-		//����y���ﷶΧ
-		ui.ymotor_location_slider->setMaximum(yMotorRange);
-		ui.ymotor_max_location_label->setText(QString::number(ui.ymotor_location_slider->maximum()));
-
-
-		QRectF rect = ui.graphicsView->viewport()->rect();
-		widthScale = rect.width() / xMotorRange;//��������sceneRect�Ŀ�������ϵ����x��
-		heightScale = rect.height() / yMotorRange;//��������sceneRect�ĸ߶�����ϵ����y��
-
-
-		ui.graphicsView->setSceneRect();
-	}
-	catch (...)
-	{
-		QMessageBox msgBox;
-		msgBox.setText(QString::fromLocal8Bit("������������̲�����"));
-		msgBox.exec();
-	}
 }
 
 void HPPA::setImagerSimulationPos(double x, double y)
@@ -1307,435 +787,8 @@ void HPPA::setImagerSimulationPos(double x, double y)
 	ui.graphicsView->imager->setPos(x, y);
 }
 
-void HPPA::ontimerLocationFeedBackOfMotor_x_y()
-{
-	//std::cout << "------------------------------------------" << std::endl;
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	ByteBack xMotorState = m_xMotor->GetState();
-
-	//����1�����ֶ�����/�ɼ�����x�����˶�ʱ����/�ң������Զ��ĵ�������λ��slider
-	if (xMotorState.Speed != 0)
-	{
-		double newPos = ui.xmotor_location_slider->getDistanceFromPulse(xMotorState.Location);
-
-		ui.xmotor_location_slider->setValue(newPos, false);
-		setImagerSimulationPos(newPos, ui.ymotor_location_slider->value());
-
-
-		QApplication::processEvents();
-	}
-
-
-
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	ByteBack yMotorState = m_yMotor->GetState();
-
-	//����2�����ֶ�����y�����˶�ʱ��ǰ/�󣩣����Զ��ĵ�������λ��slider
-	if (yMotorState.Speed != 0)
-	{
-		double newPos = ui.ymotor_location_slider->getDistanceFromPulse(yMotorState.Location);
-
-		ui.ymotor_location_slider->setValue(newPos, false);
-		setImagerSimulationPos(ui.xmotor_location_slider->value(), newPos);
-
-		QApplication::processEvents();
-	}
-
-}
-
-void HPPA::ontimerYmotorLocationFeedBackAfterRecord()
-{
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	ByteBack yMotorState = m_yMotor->GetState();
-
-	//������λ�÷�����slider
-	if (yMotorState.Speed != 0)
-	{
-		double newPos = ui.ymotor_location_slider->getDistanceFromPulse(yMotorState.Location);
-
-		ui.ymotor_location_slider->setValue(newPos, false);
-		setImagerSimulationPos(ui.xmotor_location_slider->value(), newPos);
-
-		QApplication::processEvents();
-	}
-	else//���ô˺������ܾ�ȷ�ķ��زɼ�ǰ��λ�ã���Ҫͨ���ɼ�ǰ��¼�ľ�ȷλ��������
-	{
-		m_timerYmotorLocationFeedBackAfterRecord->stop();
-
-		double ymotorPositionOfLine1Tmp = m_pathPlan->getRecordLineTableWidget()->item(0, 0)->text().toDouble();//ymotorPositionOfLine1
-
-		ui.ymotor_location_slider->setValue(ymotorPositionOfLine1Tmp, false);
-		setImagerSimulationPos(ui.xmotor_location_slider->value(), ymotorPositionOfLine1Tmp);
-	}
-}
-
-void HPPA::OnXmotorSpeedLineeditEditingFinished()
-{
-	ui.xmotor_speed_slider->setValue(ui.xmotor_speed_lineEdit->text().toDouble());
-}
-
-void HPPA::OnXmotorSpeedSliderChanged(double speed)
-{
-	ui.xmotor_speed_lineEdit->setText(QString::number(speed));
-}
-
-void HPPA::OnXmotorLocationLineeditEditingFinished()
-{
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	ui.xmotor_location_slider->setValue(ui.xmotor_location_lineEdit->text().toDouble());
-
-	setImagerSimulationPos(ui.xmotor_location_slider->value(), ui.ymotor_location_slider->value());
-
-	m_xMotor->MoveToLocation(ui.xmotor_location_slider->OriginalValue());
-}
-
-void HPPA::OnXmotorLocationSliderChanged(double location)
-{
-	ui.xmotor_location_lineEdit->setText(QString::number(location));
-}
-
-void HPPA::OnXmotorLocationSliderReleased()
-{
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-	m_xMotor->MoveToLocation(ui.xmotor_location_slider->OriginalValue());
-
-	setImagerSimulationPos(ui.xmotor_location_slider->value(), ui.ymotor_location_slider->value());
-}
-
-void HPPA::OnYmotorLocationLineeditEditingFinished()
-{
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	ui.ymotor_location_slider->setValue(ui.ymotor_location_lineEdit->text().toDouble());
-
-	setImagerSimulationPos(ui.xmotor_location_slider->value(), ui.ymotor_location_slider->value());
-
-	m_yMotor->MoveToLocation(ui.ymotor_location_slider->OriginalValue());
-}
-
-void HPPA::OnYmotorLocationSliderChanged(double location)
-{
-	ui.ymotor_location_lineEdit->setText(QString::number(location));
-}
-
-void HPPA::OnYmotorLocationSliderReleased()
-{
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
-	m_yMotor->MoveToLocation(ui.ymotor_location_slider->OriginalValue());
-
-	setImagerSimulationPos(ui.xmotor_location_slider->value(), ui.ymotor_location_slider->value());
-}
-
-void HPPA::ontestRangeOfMotor_x_y()
-{
-	//����x��������
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	m_xMotor->SettingZeroLocation();//���ƶ���0λ�õĽӽ����أ�������λ��Ϊ0
-	m_timerTestRangeOfxMotor->start(500);
-
-	//����y��������
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	m_yMotor->SettingZeroLocation();
-	m_timerTestRangeOfyMotor->start(500);
-}
-
-void HPPA::ontimerTestRangeOfxMotor()
-{
-	if (isMotorConnected(m_xMotor))
-	{
-		qDebug() << "x TestRangeOfxMotor: x motor is bad+++++++++++++++++++++++++++++++++++++++++++";
-		return;
-	}
-	//qDebug() << "x TestRangeOfxMoto: start+++++++++++++++++++++++++++++++++++++++++++";
-
-	ByteBack MotorState = m_xMotor->GetState();
-	//std::cout << "x�����ٶȣ�" << MotorState.Speed << std::endl;
-
-
-	if (MotorState.Speed == 0 && MotorState.Location == 0)//����λ��Ϊ0�ĵط�
-	{
-		qDebug() << "x TestRangeOfxMotor: speed is 0��reach to original point+++++++++++++++++++++++++++++++++++++++++++";
-
-		m_xMotor->EnableMotro();
-		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-		m_xMotor->MoveMotar(true);//�����ƶ�
-	}
-
-	if (MotorState.Speed == 0 && MotorState.Location != 0)//����λ�����ĵط�
-	{
-		qDebug() << "x TestRangeOfxMotor: speed is 0, reach to most far point, completed+++++++++++++++++++++++++++++++++++++++++++";
-
-		double maxDistance = ui.xmotor_location_slider->getDistanceFromPulse(MotorState.Location);
-
-		m_xMotor->MoveToLocation(0);
-		m_timerTestRangeOfxMotor->stop();
-
-		mConfigfile.setMaxRange(maxDistance, "x");
-
-		ui.xmotor_location_slider->setMaximum(maxDistance);
-		ui.xmotor_max_location_label->setText(QString::number(ui.xmotor_location_slider->maximum()));
-
-		//��������sceneRect�Ŀ�������ϵ����x��
-		QRectF rect = ui.graphicsView->viewport()->rect();
-		widthScale = rect.width() / maxDistance;
-		ui.graphicsView->setSceneRect();
-	}
-}
-
-void HPPA::ontimerTestRangeOfyMotor()
-{
-	if (isMotorConnected(m_yMotor))
-	{
-		qDebug() << "y TestRangeOfxMotor: y motor is bad+++++++++++++++++++++++++++++++++++++++++++";
-		return;
-	}
-
-	ByteBack MotorState = m_yMotor->GetState();
-	int a = 1;
-	//qDebug() << "y TestRangeOfyMoto: start";
-
-	if (MotorState.Speed == 0 && MotorState.Location == 0)//����λ��Ϊ0�ĵط�
-	{
-		qDebug() << "y TestRangeOfyMotor: speed is 0��reach to original point+++++++++++++++++++++++++++++++++++++++++++";
-
-		m_yMotor->EnableMotro();
-		m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
-		m_yMotor->MoveMotar(true);//��ǰ�ƶ�
-	}
-
-	if (MotorState.Speed == 0 && MotorState.Location != 0)//����λ�����ĵط�
-	{
-		qDebug() << "y TestRangeOfyMotor: speed is 0, reach to most far point, completed+++++++++++++++++++++++++++++++++++++++++++";
-
-		double maxDistance = ui.ymotor_location_slider->getDistanceFromPulse(MotorState.Location);
-
-		m_yMotor->MoveToLocation(0);
-		m_timerTestRangeOfyMotor->stop();
-
-		//��y�������̼�¼���ļ����Ա����ʹ�� �� ����ÿ�ζ��������̣��������˷�ʱ��
-		mConfigfile.setMaxRange(maxDistance, "y");
-
-		ui.ymotor_location_slider->setMaximum(maxDistance);
-		ui.ymotor_max_location_label->setText(QString::number(ui.ymotor_location_slider->maximum()));
-
-		//��������sceneRect�ĸ߶�����ϵ����y��
-		QRectF rect = ui.graphicsView->viewport()->rect();
-		heightScale = rect.height() / maxDistance;
-		ui.graphicsView->setSceneRect();
-	}
-}
-
-void HPPA::ontimerMoveXmotor()
-{
-	//std::cout << "xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx" << std::endl;
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	ByteBack MotorState = m_xMotor->GetState();
-	//��ȡϵͳʱ���x�����λ�ã�������
-	long long timeOs = getNanosecondsSinceMidnight();
-	BroadcastXMotorPosSignal(timeOs, MotorState.Location);
-	fprintf(m_hTimesFile, "%lld,%d\n", timeOs, MotorState.Location);
-
-	//��x�����λ�÷�����slider��
-	if (MotorState.Speed != 0)
-	{
-		double newPos = ui.xmotor_location_slider->getDistanceFromPulse(MotorState.Location);
-
-		ui.xmotor_location_slider->setValue(newPos, false);
-		setImagerSimulationPos(newPos, ui.ymotor_location_slider->value());
-
-		QApplication::processEvents();
-	}
-
-	//�ɼ�������x���ﷵ�س�ʼλ�ã���ʼ�ɼ�ǰ��¼��λ�ã�m_lXmotorLocationOfStartRecord��
-	if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord)//x����λ�ô������ֵ���ӽ����أ���֡��û�вɼ���
-	{
-		//������ֹͣ�ɼ�
-		m_Imager->setRecordControlState(false);
-
-		//x���ﷵ�زɼ�ǰ��λ��
-		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-		m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
-
-		//qDebug() << "x����λ�û�ԭ��x����λ�ô������ֵ���ӽ����أ���֡��û�вɼ��꣬���ֹͣ�ɼ���";
-		qDebug() << "11111111111111111111111111111111111111111111111111";
-	}
-	if (!m_Imager->getRecordControlState())//�����ֹͣ�ɼ�����Ҫ������ϻص���ʼλ�ã���1�����ֹͣ�ɼ�����2��֡���ɼ����ˣ����ﻹ���˶�
-	{
-		//x���ﷵ�زɼ�ǰ��λ��
-		m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-		m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
-
-		//qDebug() << "x����λ�û�ԭ����1�����ֹͣ����ɼ�����2��֡���ɼ����ˣ����ﻹ���˶���";
-		qDebug() << "222222222222222222222222222222222222222222222222222222";
-	}
-
-
-
-	//������һ���ɼ��ߵIJɼ�����
-	if (MotorState.Speed == 0 && MotorState.Location == m_lXmotorLocationOfStartRecord//��x���ﷵ�س�ʼλ��
-		|| MotorState.Location - m_lXmotorLocationOfStartRecord < 300)//���ɼ�ǰλ��Ϊ0ʱ������Ҫ�������
-	{
-		//ֹͣ
-		m_timerMoveXmotor->stop();
-
-		//���ɼ���ɵ�������Ϊ��ɫ
-		for (size_t j = 0; j < m_pathPlan->getRecordLineTableWidget()->columnCount(); j++)
-		{
-			m_pathPlan->getRecordLineTableWidget()->item(m_numberOfRecording, j)->setBackgroundColor(QColor(0, 255, 0));
-		}
-
-		//׼ȷ����x����slider��λ��
-		double pos = ui.xmotor_location_slider->getDistanceFromPulse(m_lXmotorLocationOfStartRecord);
-		ui.xmotor_location_slider->setValue(pos, false);
-		setImagerSimulationPos(pos, ui.ymotor_location_slider->value());
-
-		//ִ����һ������
-		m_ForLoopControl->m_boolRecordNextLine = true;
-	}
-
-	//std::cout << "��ʼλ��Ϊ��" << m_lXmotorLocationOfStartRecord << std::endl;
-	//std::cout << "�����" << MotorState.Location - m_lXmotorLocationOfStartRecord << std::endl;
-}
-
-void HPPA::ontimerMoveYmotor()
-{
-	//std::cout << "yyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyyy" << std::endl;
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	ByteBack MotorState = m_yMotor->GetState();
-
-	//��y�����λ�÷�����slider��
-	if (MotorState.Speed != 0)
-	{
-		double newPos = ui.ymotor_location_slider->getDistanceFromPulse(MotorState.Location);
-		//std::cout << "y����λ�ã�" << newPos << std::endl;
-
-		ui.ymotor_location_slider->setValue(newPos, false);
-		setImagerSimulationPos(ui.xmotor_location_slider->value(), newPos);
-
-		QApplication::processEvents();
-	}
-	else if (MotorState.Speed == 0)
-	{
-		//ֹͣ���ñ�����
-		m_timerMoveYmotor->stop();
-
-		//׼ȷ����y����slider��λ��
-		double pos = m_pathPlan->getRecordLineTableWidget()->item(m_numberOfRecording, 0)->text().toDouble();
-		ui.ymotor_location_slider->setValue(pos, false);
-		setImagerSimulationPos(ui.xmotor_location_slider->value(), pos);
-
-		//�������ʼ�ɼ��󣬵�y����ǰ����һ���ɼ��ߵ�;�У������ֹͣ�ɼ�
-		if (m_RecordState % 2 == 0)
-		{
-			//
-			for (size_t j = 0; j < m_pathPlan->getRecordLineTableWidget()->columnCount(); j++)
-			{
-				m_pathPlan->getRecordLineTableWidget()->item(m_numberOfRecording, j)->setBackgroundColor(QColor(240, 240, 240));
-			}
-
-			return;
-		}
-
-		//�ƶ�x����
-		if (isMotorConnected(m_xMotor))
-		{
-			return;
-		}
-		m_xMotor->EnableMotro();
-		m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow();//��¼��ǰ����λ��
-		m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue());//��ʼ�ɼ�ʱ�����ù������ٶ� �� �ŵ㣺�����˲ɼ�ʱ�ٶȺ������ٶ�
-
-
-		double xMaxPositionTmp = m_pathPlan->getRecordLineTableWidget()->item(m_numberOfRecording, 1)->text().toDouble();
-		long xMaxPosition = ui.xmotor_location_slider->getPositionPulse(xMaxPositionTmp);
-		m_xMotor->MoveToLocation(xMaxPosition);
-		m_timerMoveXmotor->start(500);
-
-
-		//��ʼ�ɼ�Ӱ��
-		m_Imager->setFrameNumber(this->frame_number->text().toInt());
-
-		emit StartRecordSignal();//���俪ʼ�ɼ��ź�
-	}
-}
-
 void HPPA::onimagerSimulatorMove(int x, int y)
 {
-	if (isMotorConnected(m_xMotor))
-	{
-		return;
-	}
-
-	//std::cout << "x����ϵ����������������+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
-
-	double xLocatioin = abs(x) / widthScale;//��λΪcm����ʵ����
-	ui.xmotor_location_slider->setValue(xLocatioin, false);
-
-	double xx = ui.xmotor_location_slider->OriginalValue();//��λΪ�������ʵ����
-	m_xMotor->MoveToLocation(xx);
-
-
-	if (isMotorConnected(m_yMotor))
-	{
-		return;
-	}
-
-	//std::cout << "y����ϵ����������������+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
-
-	double yLocatioin = abs(y) / heightScale;//��λΪcm����ʵ����
-	ui.ymotor_location_slider->setValue(yLocatioin, false);
-
-	double yy = ui.ymotor_location_slider->OriginalValue();//��λΪ�������ʵ����
-
-	//std::cout << "aaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaa" << std::endl;
-	m_yMotor->MoveToLocation(yy);
-	//std::cout << "bbbbbbbbbbbbbbbbbbbbbbbbbbbbbbb" << std::endl;
-
 }
 
 void HPPA::OnSendLogToCallClass(QString str)
@@ -1784,122 +837,6 @@ void HPPA::getRequest(QString str)
 	QNetworkReply* reply = naManager->get(request);
 }
 
-void HPPA::newMotor()
-{
-	QAction* checked = moveplatformActionGroup->checkedAction();
-	QString checkedName = checked->objectName();
-	if (checkedName != "mAction_2AxisMotor")
-	{
-		return;
-	}
-
-	if (m_xMotor != nullptr && m_yMotor != nullptr)
-	{
-		return;
-	}
-
-	//����
-	m_xMotor = new VinceControl(NETTCP, 6002);//�����
-	m_yMotor = new VinceControl(NETTCP, 6001);//ԭ����6001���������ԣ�6003
-
-	m_pathPlan->setMotor(m_xMotor, m_yMotor);
-	QString imagerSelected = mImagerGroup->checkedAction()->objectName();
-	if (imagerSelected == "mActionPica_NIR")
-	{
-		connect(m_xMotor, SIGNAL(newTCPConnection(VinceControl*)), this, SLOT(setMotorParamMicroscope(VinceControl*)));
-		connect(m_yMotor, SIGNAL(newTCPConnection(VinceControl*)), this, SLOT(setMotorParamMicroscope(VinceControl*)));
-	}
-
-	connect(m_xMotor, SIGNAL(newTCPConnection(VinceControl*)), this, SLOT(setXMotorParamFromCfgFile(VinceControl*)));
-	connect(m_yMotor, SIGNAL(newTCPConnection(VinceControl*)), this, SLOT(setYMotorParamFromCfgFile(VinceControl*)));
-	
-	m_xConnectCount = 0;
-	m_yConnectCount = 0;
-
-
-	//connect(m_xMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
-	//connect(m_yMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
-}
-
-void HPPA::setMotorParamMicroscope(VinceControl* motor)
-{
-	//��΢��nir����������
-	QString commonstr;
-	QByteArray buf;
-
-	commonstr = "cfg msr=2\n";
-	motor->SendCommandtoMotor(commonstr, "non");
-	motor->GetCommonRetrun(buf);
-	commonstr = "cfg msv=1\n";
-	motor->SendCommandtoMotor(commonstr, "non");
-	motor->GetCommonRetrun(buf);
-
-	commonstr = "cfg psr=1\n";
-	motor->SendCommandtoMotor(commonstr, "non");
-	motor->GetCommonRetrun(buf);
-	commonstr = "cfg psv=1\n";
-	motor->SendCommandtoMotor(commonstr, "non");
-	motor->GetCommonRetrun(buf);
-
-	commonstr = "cfg zsd=-3000\n";//���ù����ٶȺͷ���
-	motor->SendCommandtoMotor(commonstr, "non");
-	motor->GetCommonRetrun(buf);
-	
-	commonstr = "cfg snr=1\n";//���ù��㴫����
-	motor->SendCommandtoMotor(commonstr, "non");
-	motor->GetCommonRetrun(buf);
-}
-
-void HPPA::setXMotorParamFromCfgFile(VinceControl* motor)
-{
-	float lead;
-	float stepAnglemar;
-	float scaleFactor;
-	int subdivisionMultiples;
-	float maxRange;
-	mConfigfile.getXMotorParm(stepAnglemar, lead, subdivisionMultiples, scaleFactor, maxRange);
-
-	QString commonstr;
-	QByteArray buf;
-
-	commonstr = "cfg mcs=" + QString::number(subdivisionMultiples) + "\n";
-	std::string tmp = commonstr.toStdString();
-	motor->SendCommandtoMotor(commonstr, "non");
-	motor->GetCommonRetrun(buf);
-}
-
-void HPPA::setYMotorParamFromCfgFile(VinceControl* motor)
-{
-	float lead;
-	float stepAnglemar;
-	float scaleFactor;
-	int subdivisionMultiples;
-	float maxRange;
-	mConfigfile.getYMotorParm(stepAnglemar, lead, subdivisionMultiples, scaleFactor, maxRange);
-
-	QString commonstr;
-	QByteArray buf;
-
-	commonstr = "cfg mcs=" + QString::number(subdivisionMultiples) + "\n";
-	motor->SendCommandtoMotor(commonstr, "non");
-	motor->GetCommonRetrun(buf);
-}
-
-void HPPA::deleteMotor()
-{
-	disconnect(m_xMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
-	disconnect(m_yMotor, SIGNAL(SendLogToCallClass(QString)), this, SLOT(OnSendLogToCallClass(QString)));
-
-	delete m_xMotor;
-	delete m_yMotor;
-
-	m_xMotor = nullptr;
-	m_yMotor = nullptr;
-
-	xmotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
-	ymotor_state_label1->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
-}
-
 void HPPA::requestFinished(QNetworkReply* reply) {
 	// ��ȡhttp״̬��
 	QVariant statusCode = reply->attribute(QNetworkRequest::HttpStatusCodeAttribute);
@@ -1976,9 +913,6 @@ void HPPA::onconnect()
 		connect(m_Imager, SIGNAL(SpectralSignal(int)), this, SLOT(PlotSpectral(int)));
 		//connect(m_Imager, SIGNAL(testImagerStatus()), this, SLOT(testImagerStatus()));
 
-		newMotor();//����ݲ�ͬ��������ͣ�Ϊ����ƽ̨���ò�ͬ�IJ�������������������󴴽����
-
-
 		//�ļ�����
 		m_CopyFileThread = new QThread();
 		m_FileOperation = new FileOperation();
@@ -1999,7 +933,6 @@ void HPPA::onconnect()
 		connect(this->ui.action_reference, SIGNAL(triggered()), this, SLOT(onReference()));
 
 		connect(this->ui.action_start_recording, SIGNAL(triggered()), this, SLOT(onStartRecordStep1()));
-		connect(this, SIGNAL(StartLoopSignal()), m_ForLoopControl, SLOT(startLoop()));
 		connect(this, SIGNAL(StartRecordSignal()), m_Imager, SLOT(start_record()));
 		connect(this, SIGNAL(RecordWhiteSignal()), m_Imager, SLOT(record_white()));
 		connect(this, SIGNAL(RecordDarlSignal()), m_Imager, SLOT(record_dark()));
@@ -2133,39 +1066,28 @@ void HPPA::onDark()
 	msgBox.setText(QString::fromLocal8Bit("�ɼ�����������ȷ����ͷ�Ǹ��ϣ�"));
 	msgBox.exec();
 
-	bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
-	if (isMotorEnable)
+	QAction* checked = moveplatformActionGroup->checkedAction();
+	QString checkedName = checked->objectName();
+	if (checkedName == "mAction_is_no_motor" || checkedName == "mAction_RobotArm")
 	{
-		//�ƶ�x����
-		if (!isMotorConnected(m_xMotor))
-		{
-			m_xMotor->EnableMotro();
-			m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow();
-			m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue());
-			//m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-
-			m_xMotor->MoveMotar(true);
-		}
+		emit RecordDarlSignal();
+	}
+	else if (checkedName == "mAction_1AxisMotor")
+	{
+		omc->setImager(m_Imager);
+		omc->record_dark();
+	}
+	else if (checkedName == "mAction_2AxisMotor_new")
+	{
+		tmc->setImager(m_Imager);
+		tmc->record_dark();
+		return;
 	}
-
-	emit RecordDarlSignal();
 }
 
 void HPPA::recordDarkFinish()
 {
 	ui.mainToolBar->widgetForAction(ui.action_dark)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
-
-	bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
-	if (isMotorEnable)
-	{
-		//�ƶ�x����
-		if (!isMotorConnected(m_xMotor))
-		{
-			//x���ﷵ�زɼ�ǰ��λ��
-			m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-			m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
-		}
-	}
 }
 
 void HPPA::onReference()
@@ -2174,39 +1096,28 @@ void HPPA::onReference()
 	msgBox.setText(QString::fromLocal8Bit("��ȷ���װ������ȷ��"));
 	msgBox.exec();
 
-	bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
-	if (isMotorEnable)
+	QAction* checked = moveplatformActionGroup->checkedAction();
+	QString checkedName = checked->objectName();
+	if (checkedName == "mAction_is_no_motor" || checkedName == "mAction_RobotArm")
 	{
-		//�ƶ�x����
-		if (!isMotorConnected(m_xMotor))
-		{
-			m_xMotor->EnableMotro();
-			m_lXmotorLocationOfStartRecord = m_xMotor->GetLocationNow();
-			m_xMotor->SettingSpeed(ui.xmotor_speed_slider->OriginalValue());
-			//m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-
-			m_xMotor->MoveMotar(true);
-		}
+		emit RecordWhiteSignal();
+	}
+	else if (checkedName == "mAction_1AxisMotor")
+	{
+		omc->setImager(m_Imager);
+		omc->record_white();
+	}
+	else if (checkedName == "mAction_2AxisMotor_new")
+	{
+		tmc->setImager(m_Imager);
+		tmc->record_white();
+		return;
 	}
-	
-	emit RecordWhiteSignal();	
 }
 
 void HPPA::recordWhiteFinish()
 {
 	ui.mainToolBar->widgetForAction(ui.action_reference)->setStyleSheet("QWidget{background-color:rgb(0,255,0);}");
-
-	bool isMotorEnable = this->ui.mAction_2AxisMotor->isChecked();
-	if (isMotorEnable)
-	{
-		//�ƶ�x����
-		if (!isMotorConnected(m_xMotor))
-		{
-			//x���ﷵ�زɼ�ǰ��λ��
-			m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
-			m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
-		}
-	}
 }
 
 void HPPA::onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber)
@@ -2337,10 +1248,6 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberMeet()
 {
 	QAction* checked = moveplatformActionGroup->checkedAction();
 	QString checkedName = checked->objectName();
-	if (checkedName == "mAction_2AxisMotor")//���ж����ɼ��ߣ��м��ij���ɼ�����ɺ󲻴��������ɼ��������
-	{
-		return;
-	}
 
 	std::cout << "ֹͣ�ɼ�ԭ��֡���ɼ����ˡ�" << std::endl;
 
@@ -2359,11 +1266,6 @@ void HPPA::onRecordFinishedSignal_WhenFrameNumberNotMeet()
 	{
 		return;
 	}
-
-	if (checkedName == "mAction_2AxisMotor")//���ж����ɼ��ߣ��м��ij���ɼ�����ɺ󲻴��������ɼ��������
-	{
-		return;
-	}
 	
 	if (checkedName == "mAction_2AxisMotor_new")//���ж����ɼ��ߣ��м��ij���ɼ�����ɺ󲻴��������ɼ��������
 	{
@@ -2386,65 +1288,6 @@ void HPPA::onsequenceComplete()
 	m_RecordState++;
 }
 
-ForLoopControl::ForLoopControl()
-{
-
-}
-
-ForLoopControl::~ForLoopControl()
-{
-
-}
-
-void ForLoopControl::setLoopCount(int loopCount)
-{
-	m_loopCount = loopCount;
-}
-
-int ForLoopControl::getLoopCount() const
-{
-	return m_loopCount;
-}
-
-void ForLoopControl::startLoop()
-{
-	//std::cout << "����" << m_loopCount << "��ѭ��" << std::endl;
-	for (size_t i = 0; i < m_loopCount; i++)
-	{
-		//std::cout << "��" << i << "��ѭ��" << std::endl;
-
-		emit recordSignal(i);
-
-		m_boolRecordNextLine = false;
-		m_boolQuitLoop = false;
-		while (!m_boolRecordNextLine)
-		{
-			Sleep(500);
-
-			if (m_boolQuitLoop)
-			{
-				break;
-			}
-		}
-
-		if (m_boolQuitLoop)
-		{
-			break;
-		}
-	}
-
-	if (m_boolQuitLoop == false)
-	{
-		emit recordSignal(-1);//�ɼ������к��ߣ��Զ�ֹͣ
-	}
-	else if (m_boolQuitLoop == true)
-	{
-		emit recordSignal(-2);//�ֶ�ֹͣ�ɼ�
-	}
-
-	//std::cout << "�˳�ѭ����" << std::endl;
-}
-
 WorkerThread3::WorkerThread3(CFocusMotorControl * ctrlFocusMotor)
 {
 	m_ctrlFocusMotor = ctrlFocusMotor;
diff --git a/HPPA/HPPA.h b/HPPA/HPPA.h
index fed2af2..9668898 100644
--- a/HPPA/HPPA.h
+++ b/HPPA/HPPA.h
@@ -32,7 +32,6 @@
 #include "aboutWindow.h"
 #include "adjustTable.h"
 #include "PowerControl.h"
-#include "PathPlan.h"
 #include "RobotArmControl.h"
 #include "OneMotorControl.h"
 #include "TwoMotorControl.h"
@@ -124,36 +123,6 @@ signals:
 	void threadSignal(QString s);
 };
 
-
-class ForLoopControl :public QObject
-{
-	Q_OBJECT
-
-public:
-	ForLoopControl();
-	~ForLoopControl();
-
-	void setLoopCount(int loopCount);
-	int getLoopCount() const;
-
-	bool m_boolRecordNextLine;
-	bool m_boolQuitLoop;
-
-protected:
-private:
-	int m_loopCount;
-
-
-public slots:
-	void startLoop();
-
-signals:
-	//����Ӱ���źţ�
-	//�����źŷ�����ֵʱ��intֵ�����òɼ��ڼ����ɼ����ˣ�
-	//�����źŷ��为ֵʱ��-1�������ɼ���ɣ������ֶ���ֹ�ɼ�����-2���ֶ���ֹ�ɼ�����
-	void recordSignal(int);
-};
-
 class HPPA : public QMainWindow
 {
 	Q_OBJECT
@@ -181,12 +150,10 @@ private:
 
 	Configfile mConfigfile;
 
-	ForLoopControl * m_ForLoopControl;
 	ImagerOperationBase* m_Imager;//
 
 	int m_RecordState;//������������ɼ����̣�ȡ2��������1 �� ���ڲɼ���0 �� ֹͣ�ɼ�
 
-	QThread * m_ForLoopControlThread;//
 	QThread * m_RecordThread;//Ӱ��ɼ��߳�
 	QThread * m_RgbCameraThread;//rgb�����ȡͼ���߳�
 	QThread * m_CopyFileThread;//Ӱ���ļ������߳�
@@ -197,34 +164,8 @@ private:
 	//QLineSeries *series;
 	//QChart *chart;
 
-	//����
-	VinceControl *m_yMotor;
-	VinceControl *m_xMotor;
-
-	long m_lXmotorLocationOfStartRecord;//��ʼ�ɼ�ǰx�����λ��
-	long m_lYmotorLocationOfStartRecord;//��ʼ�ɼ�ǰy�����λ��
-
-	unsigned long m_lManualSpeedOfXMotor;//X�����˶��ٶȣ�ͨ������������ʾ�����ֶ���������+X�������̲�����ʹ������ٶȣ�12000*0.00052734375=6.328125cm/s
-	unsigned long m_lManualSpeedOfYMotor;//Y�����X��������Ϊ��ͬ�Ļ�������Y�����л�е����װ�ã�ʵ��Y�����ٶ�=X�����ٶ�/5
-
-	int m_xConnectCount;//��ʾ��������״̬��0���Ͽ���1���Ͽ����һ�����ӡ�����1����ʾ���ӣ�����Ϊ����״̬Ϊ1ʱ����������ĵ���
-	int m_yConnectCount;
-
-	QTimer *m_timerMoveXmotor;
-	QTimer *m_timerMoveYmotor;
-
-	QTimer *m_timerTestRangeOfxMotor;//���ڲ���x���������
-	QTimer *m_timerTestRangeOfyMotor;//���ڲ���y���������
-	QTimer *m_timerLocationFeedBackOfMotor_x_y;//���ֶ����ƣ�x/y�������˶�ʱ��������λ���Զ��ķ�����slider��
-	QTimer *m_timerYmotorLocationFeedBackAfterRecord;//�ɼ�Ӱ����ɺ󣬽������λ��ʵʱ���ص�slider��
-
 	QString operateWidget;//��ǰ�����Ŀؼ���
 	
-	bool isMotorConnected(VinceControl *motor);//�ж������Ƿ�Ͽ�������Ͽ�����true�����򷵻�false
-	void SetXMotorWidgetEnable(bool enable);
-	void SetYMotorWidgetEnable(bool enable);
-	void setMotorRange();//�����������̷�Χ
-
 	//ģ�����λ��
 	double widthScale;//QGraphicsView��viewport������ʵ���������widthScale = rect.width() / maxDistance;
 	double heightScale;//QGraphicsView��viewport�ߺ���ʵ���������heightScale = rect.height() / maxDistance;
@@ -253,9 +194,6 @@ private:
 	TwoMotorControl* tmc;
 	QDockWidget* dock_tmc;
 	
-
-	PathPlan* m_pathPlan;
-
 	FILE* m_hTimesFile;
 
 public Q_SLOTS:
@@ -277,7 +215,6 @@ public Q_SLOTS:
 	void onReference();
 	void recordWhiteFinish();
 	void onStartRecordStep1();
-	void onStartRecordStep2(int lineNumber);
 	void onCreateTab(int trackNumber);
 	void onTabWidgetCurrentChanged(int index);
 	void onActionOpenDirectory();
@@ -293,50 +230,7 @@ public Q_SLOTS:
 	void onLeftMouseButtonPressed(int x, int y);//���Ӱ����Ԫ��ʾ����
 
 
-	//����
-	void deleteMotor();
-	void newMotor();
 	void timerEvent(QTimerEvent *event);
-	void setMotorParamMicroscope(VinceControl* motor);
-	void setXMotorParamFromCfgFile(VinceControl* motor);
-	void setYMotorParamFromCfgFile(VinceControl* motor);
-
-
-	void onxMotorLeft();
-	void onxMotorRight();
-	void onxMotorStop();
-
-	void onyMotorForward();
-	void onyMotorBackward();
-	void onyMotorStop();
-
-	void onMotorReset();
-
-	void OnXmotorSpeedEditingFinished();
-
-	void ontimerLocationFeedBackOfMotor_x_y();
-	void ontimerYmotorLocationFeedBackAfterRecord();
-
-	void OnXmotorSpeedLineeditEditingFinished();
-	void OnXmotorSpeedSliderChanged(double speed);
-	void OnXmotorLocationLineeditEditingFinished();
-	void OnXmotorLocationSliderChanged(double location);
-	void OnXmotorLocationSliderReleased();
-
-
-	void OnYmotorLocationLineeditEditingFinished();
-	void OnYmotorLocationSliderChanged(double location);
-	void OnYmotorLocationSliderReleased();
-
-
-
-	void ontestRangeOfMotor_x_y();
-	void ontimerTestRangeOfxMotor();
-	void ontimerTestRangeOfyMotor();
-
-	void ontimerMoveXmotor();
-	void ontimerMoveYmotor();
-
 	//
 	void onimagerSimulatorMove(int x, int y);
 	void OnSendLogToCallClass(QString str);
@@ -354,10 +248,8 @@ public Q_SLOTS:
 	void createOneMotorScenario();
 signals:
 	void StartFocusSignal();
-	void StartLoopSignal();
 	void StartRecordSignal();
 	void CopyFileThreadSignal(QString, QString);
-	void BroadcastXMotorPosSignal(long long, int);
 
 	void RecordWhiteSignal();
 	void RecordDarlSignal();
diff --git a/HPPA/HPPA.ui b/HPPA/HPPA.ui
index a1eb60f..23a0843 100644
--- a/HPPA/HPPA.ui
+++ b/HPPA/HPPA.ui
@@ -182,7 +182,6 @@ color:white;
     </property>
     <addaction name="mAction_is_no_motor"/>
     <addaction name="mAction_1AxisMotor"/>
-    <addaction name="mAction_2AxisMotor"/>
     <addaction name="mAction_2AxisMotor_new"/>
     <addaction name="separator"/>
     <addaction name="mAction_RobotArm"/>
@@ -726,768 +725,6 @@ QDockWidget::title {
     </layout>
    </widget>
   </widget>
-  <widget class="QDockWidget" name="mDockWidgetLinearStage">
-   <property name="styleSheet">
-    <string notr="true">/* 标题设置 */
-QDockWidget::title {
-    text-align: left;
-	background-color: rgb(240, 240, 240);
-    /*padding-left: 35px;*/
-}</string>
-   </property>
-   <property name="floating">
-    <bool>false</bool>
-   </property>
-   <property name="allowedAreas">
-    <set>Qt::AllDockWidgetAreas</set>
-   </property>
-   <property name="windowTitle">
-    <string>线性平台</string>
-   </property>
-   <attribute name="dockWidgetArea">
-    <number>2</number>
-   </attribute>
-   <widget class="QWidget" name="dockWidgetContents_5">
-    <layout class="QGridLayout" name="gridLayout_14">
-     <property name="leftMargin">
-      <number>9</number>
-     </property>
-     <property name="topMargin">
-      <number>9</number>
-     </property>
-     <property name="rightMargin">
-      <number>9</number>
-     </property>
-     <property name="bottomMargin">
-      <number>9</number>
-     </property>
-     <property name="spacing">
-      <number>6</number>
-     </property>
-     <item row="0" column="0">
-      <widget class="QGroupBox" name="groupBox_2">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="styleSheet">
-        <string notr="true">QGroupBox{border:none}</string>
-       </property>
-       <property name="title">
-        <string/>
-       </property>
-       <layout class="QGridLayout" name="gridLayout_4">
-        <property name="leftMargin">
-         <number>0</number>
-        </property>
-        <property name="topMargin">
-         <number>0</number>
-        </property>
-        <property name="rightMargin">
-         <number>0</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <property name="spacing">
-         <number>0</number>
-        </property>
-        <item row="3" column="2">
-         <spacer name="horizontalSpacer_5">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>84</width>
-            <height>19</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item row="3" column="0">
-         <spacer name="horizontalSpacer_4">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>84</width>
-            <height>19</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item row="3" column="1">
-         <widget class="QPushButton" name="ymotor_backward_btn">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="text">
-           <string>↓0</string>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="3">
-         <spacer name="horizontalSpacer_6">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>84</width>
-            <height>19</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item row="2" column="2">
-         <widget class="QPushButton" name="xmotor_right_btn">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="text">
-           <string>→</string>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="2">
-         <spacer name="horizontalSpacer_2">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>84</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item row="1" column="3">
-         <widget class="QPushButton" name="test_range_btn">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="text">
-           <string>量程检测</string>
-          </property>
-         </widget>
-        </item>
-        <item row="2" column="1">
-         <spacer name="horizontalSpacer_3">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>66</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item row="2" column="0">
-         <widget class="QPushButton" name="xmotor_left_btn">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="text">
-           <string>←0</string>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="0">
-         <spacer name="horizontalSpacer">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>84</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item row="3" column="3">
-         <widget class="QPushButton" name="motor_reset_btn">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="text">
-           <string>归零</string>
-          </property>
-         </widget>
-        </item>
-        <item row="1" column="1">
-         <widget class="QPushButton" name="ymotor_forward_btn">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="text">
-           <string>↑</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </widget>
-     </item>
-     <item row="1" column="0">
-      <widget class="QGroupBox" name="groupBox_3">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Preferred" vsizetype="Expanding">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="styleSheet">
-        <string notr="true">#QGroupBox{border:none}</string>
-       </property>
-       <property name="title">
-        <string>x马达</string>
-       </property>
-       <layout class="QVBoxLayout" name="verticalLayout">
-        <property name="spacing">
-         <number>0</number>
-        </property>
-        <property name="leftMargin">
-         <number>0</number>
-        </property>
-        <property name="topMargin">
-         <number>0</number>
-        </property>
-        <property name="rightMargin">
-         <number>0</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout">
-          <item>
-           <widget class="QLabel" name="label_15">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumSize">
-             <size>
-              <width>0</width>
-              <height>20</height>
-             </size>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>100</width>
-              <height>20</height>
-             </size>
-            </property>
-            <property name="text">
-             <string>速度</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QLineEdit" name="xmotor_speed_lineEdit">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumSize">
-             <size>
-              <width>0</width>
-              <height>0</height>
-             </size>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>16777215</width>
-              <height>16777215</height>
-             </size>
-            </property>
-            <property name="styleSheet">
-             <string notr="true">background-color: rgb(255, 255, 255);</string>
-            </property>
-            <property name="text">
-             <string>1</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_2">
-          <item>
-           <spacer name="horizontalSpacer_7">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeType">
-             <enum>QSizePolicy::Fixed</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>100</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QMotorDoubleSlider" name="xmotor_speed_slider">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_3">
-          <item>
-           <spacer name="horizontalSpacer_8">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeType">
-             <enum>QSizePolicy::Fixed</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>100</width>
-              <height>17</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QLabel" name="label_11">
-            <property name="text">
-             <string>0</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer_9">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>37</width>
-              <height>17</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QLabel" name="label_10">
-            <property name="maximumSize">
-             <size>
-              <width>16777215</width>
-              <height>33</height>
-             </size>
-            </property>
-            <property name="text">
-             <string>3</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_4">
-          <item>
-           <widget class="QLabel" name="label_14">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumSize">
-             <size>
-              <width>100</width>
-              <height>0</height>
-             </size>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>100</width>
-              <height>20</height>
-             </size>
-            </property>
-            <property name="text">
-             <string>位置</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QLineEdit" name="xmotor_location_lineEdit">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumSize">
-             <size>
-              <width>0</width>
-              <height>20</height>
-             </size>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>16777215</width>
-              <height>33</height>
-             </size>
-            </property>
-            <property name="styleSheet">
-             <string notr="true">background-color: rgb(255, 255, 255);</string>
-            </property>
-            <property name="text">
-             <string>0</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_5">
-          <item>
-           <spacer name="horizontalSpacer_10">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeType">
-             <enum>QSizePolicy::Fixed</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>100</width>
-              <height>14</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QMotorDoubleSlider" name="xmotor_location_slider">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="tickPosition">
-             <enum>QSlider::NoTicks</enum>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_6">
-          <item>
-           <spacer name="horizontalSpacer_11">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeType">
-             <enum>QSizePolicy::Fixed</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>100</width>
-              <height>17</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QLabel" name="label_8">
-            <property name="text">
-             <string>0</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer_12">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>128</width>
-              <height>17</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QLabel" name="xmotor_max_location_label">
-            <property name="text">
-             <string>nan</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-       </layout>
-      </widget>
-     </item>
-     <item row="2" column="0">
-      <widget class="QGroupBox" name="groupBox_9">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
-       <property name="title">
-        <string>y马达</string>
-       </property>
-       <layout class="QVBoxLayout" name="verticalLayout_2">
-        <property name="spacing">
-         <number>0</number>
-        </property>
-        <property name="leftMargin">
-         <number>0</number>
-        </property>
-        <property name="topMargin">
-         <number>0</number>
-        </property>
-        <property name="rightMargin">
-         <number>0</number>
-        </property>
-        <property name="bottomMargin">
-         <number>0</number>
-        </property>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_7">
-          <item>
-           <widget class="QLabel" name="label_16">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumSize">
-             <size>
-              <width>100</width>
-              <height>0</height>
-             </size>
-            </property>
-            <property name="text">
-             <string>位置</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <widget class="QLineEdit" name="ymotor_location_lineEdit">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="minimumSize">
-             <size>
-              <width>0</width>
-              <height>21</height>
-             </size>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>16777215</width>
-              <height>33</height>
-             </size>
-            </property>
-            <property name="styleSheet">
-             <string notr="true">background-color: rgb(255, 255, 255);</string>
-            </property>
-            <property name="text">
-             <string>0</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_8">
-          <item>
-           <spacer name="horizontalSpacer_13">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeType">
-             <enum>QSizePolicy::Fixed</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>100</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QMotorDoubleSlider" name="ymotor_location_slider">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="tickPosition">
-             <enum>QSlider::NoTicks</enum>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <layout class="QHBoxLayout" name="horizontalLayout_9">
-          <item>
-           <spacer name="horizontalSpacer_14">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeType">
-             <enum>QSizePolicy::Fixed</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>100</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QLabel" name="label_9">
-            <property name="text">
-             <string>0</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item>
-           <spacer name="horizontalSpacer_15">
-            <property name="orientation">
-             <enum>Qt::Horizontal</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>146</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item>
-           <widget class="QLabel" name="ymotor_max_location_label">
-            <property name="text">
-             <string>nan</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-         </layout>
-        </item>
-        <item>
-         <spacer name="verticalSpacer">
-          <property name="orientation">
-           <enum>Qt::Vertical</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>20</width>
-            <height>40</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-       </layout>
-      </widget>
-     </item>
-    </layout>
-   </widget>
-  </widget>
   <action name="action_exit">
    <property name="text">
     <string>退出</string>
@@ -1727,7 +964,7 @@ QDockWidget::title {
     <bool>true</bool>
    </property>
    <property name="text">
-    <string>2 轴线性马达_new</string>
+    <string>2 轴线性马达</string>
    </property>
   </action>
  </widget>
@@ -1738,11 +975,6 @@ QDockWidget::title {
    <extends>QSlider</extends>
    <header>qdoubleslider.h</header>
   </customwidget>
-  <customwidget>
-   <class>QMotorDoubleSlider</class>
-   <extends>QSlider</extends>
-   <header location="global">qmotordoubleslider.h</header>
-  </customwidget>
   <customwidget>
    <class>ImagerPositionSimulation</class>
    <extends>QGraphicsView</extends>
diff --git a/HPPA/HPPA.vcxproj b/HPPA/HPPA.vcxproj
index 3e3c9df..279d264 100644
--- a/HPPA/HPPA.vcxproj
+++ b/HPPA/HPPA.vcxproj
@@ -31,7 +31,7 @@
     <Import Project="$(QtMsBuild)\qt_defaults.props" />
   </ImportGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'" Label="QtSettings">
-    <QtInstall>5.9_msvc2017_64</QtInstall>
+    <QtInstall>5.13.2_msvc2017_64</QtInstall>
     <QtModules>core;network;gui;widgets;serialport;websockets;charts</QtModules>
     <QtBuildConfig>debug</QtBuildConfig>
   </PropertyGroup>
@@ -55,11 +55,11 @@
   </ImportGroup>
   <PropertyGroup Label="UserMacros" />
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;$(IncludePath)</IncludePath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
     <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;$(IncludePath)</IncludePath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
     <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
@@ -106,13 +106,13 @@
   <ItemGroup>
     <ClCompile Include="aboutWindow.cpp" />
     <ClCompile Include="adjustTable.cpp" />
+    <ClCompile Include="CaptureCoordinator.cpp" />
     <ClCompile Include="Corning410Imager.cpp" />
     <ClCompile Include="hppaConfigFile.cpp" />
     <ClCompile Include="ImagerOperationBase.cpp" />
     <ClCompile Include="imager_base.cpp" />
     <ClCompile Include="irisximeaimager.cpp" />
     <ClCompile Include="OneMotorControl.cpp" />
-    <ClCompile Include="PathPlan.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
     <ClCompile Include="QDoubleSlider.cpp" />
@@ -125,6 +125,7 @@
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
     </ClCompile>
+    <ClCompile Include="TwoMotorControl.cpp" />
     <ClCompile Include="utility_tc.cpp" />
     <QtRcc Include="HPPA.qrc" />
     <QtUic Include="about.ui" />
@@ -145,7 +146,10 @@
     <QtUic Include="oneMotorControl.ui" />
     <QtUic Include="PathPlan.ui" />
     <QtUic Include="PowerControl.ui" />
+    <QtUic Include="RadianceConversion.ui" />
+    <QtUic Include="ReflectanceConversion.ui" />
     <QtUic Include="RobotArmControl.ui" />
+    <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h" />
@@ -159,12 +163,13 @@
   <ItemGroup>
     <QtMoc Include="adjustTable.h" />
     <QtMoc Include="PowerControl.h" />
-    <QtMoc Include="PathPlan.h" />
     <QtMoc Include="RobotArmControl.h" />
     <QtMoc Include="Corning410Imager.h" />
+    <QtMoc Include="CaptureCoordinator.h" />
     <ClInclude Include="imager_base.h" />
     <ClInclude Include="irisximeaimager.h" />
     <QtMoc Include="OneMotorControl.h" />
+    <QtMoc Include="TwoMotorControl.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />
diff --git a/HPPA/HPPA.vcxproj.filters b/HPPA/HPPA.vcxproj.filters
index 18c1524..ee57894 100644
--- a/HPPA/HPPA.vcxproj.filters
+++ b/HPPA/HPPA.vcxproj.filters
@@ -27,6 +27,9 @@
     <Filter Include="Source Files\motor">
       <UniqueIdentifier>{4672856c-86fb-46e3-94ff-0a296dcc6111}</UniqueIdentifier>
     </Filter>
+    <Filter Include="Header Files\focus">
+      <UniqueIdentifier>{f2bfb93e-9ef8-4fdd-a776-db93b81af553}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -109,9 +112,6 @@
     <ClCompile Include="PowerControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="PathPlan.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="RobotArmControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -127,6 +127,12 @@
     <ClCompile Include="OneMotorControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="CaptureCoordinator.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="TwoMotorControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -171,9 +177,6 @@
     <QtMoc Include="PowerControl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="PathPlan.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="RobotArmControl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -183,6 +186,12 @@
     <QtMoc Include="OneMotorControl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="TwoMotorControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="CaptureCoordinator.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -238,6 +247,15 @@
     <QtUic Include="oneMotorControl.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="RadianceConversion.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="ReflectanceConversion.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="twoMotorControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />
diff --git a/HPPA/OneMotorControl.cpp b/HPPA/OneMotorControl.cpp
index 3687b86..0d249f1 100644
--- a/HPPA/OneMotorControl.cpp
+++ b/HPPA/OneMotorControl.cpp
@@ -122,6 +122,30 @@ void OneMotorControl::setImager(ImagerOperationBase* imager)
     m_Imager = imager;
 }
 
+void OneMotorControl::record_dark()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    if (m_darkCaptureCoordinator == nullptr)
+    {
+        m_darkCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(0, m_multiAxisController, m_Imager);
+    }
+
+    m_darkCaptureCoordinator->startStepMotion(s);
+}
+
+void OneMotorControl::record_white()
+{
+    double s = ui.speed_lineEdit->text().toDouble();
+
+    if (m_whiteCaptureCoordinator == nullptr)
+    {
+        m_whiteCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(1, m_multiAxisController, m_Imager);
+    }
+
+    m_whiteCaptureCoordinator->startStepMotion(s);
+}
+
 void OneMotorControl::run()
 {
     if (m_coordinator == nullptr)
diff --git a/HPPA/OneMotorControl.h b/HPPA/OneMotorControl.h
index c085875..7f65d9b 100644
--- a/HPPA/OneMotorControl.h
+++ b/HPPA/OneMotorControl.h
@@ -21,6 +21,9 @@ public:
     void run();
     void stop();
 
+    void record_dark();
+    void record_white();
+
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -60,4 +63,7 @@ private:
 
     OneMotionCaptureCoordinator* m_coordinator = nullptr;
     ImagerOperationBase* m_Imager;
+
+    DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
+    DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
 };
diff --git a/HPPA/PathPlan.cpp b/HPPA/PathPlan.cpp
deleted file mode 100644
index f61d028..0000000
--- a/HPPA/PathPlan.cpp
+++ /dev/null
@@ -1,308 +0,0 @@
-#include "PathPlan.h"
-#include <iostream>
-#include <QMessageBox>
-#include <QFileDialog>
-#include <fileOperation.h>
-
-PathPlan::PathPlan(VinceControl* xMotor, VinceControl* yMotor, QMotorDoubleSlider* xSlider, QMotorDoubleSlider* ySlider, QWidget* parent)
-	: QDialog(parent)
-{
-	ui.setupUi(this);
-
-	m_xMotor = xMotor;
-	m_yMotor = yMotor;
-
-	m_xSlider = xSlider;
-	m_ySlider = ySlider;
-
-	ui.recordLine_tableWidget->setFocusPolicy(Qt::NoFocus);
-	ui.recordLine_tableWidget->setStyleSheet("selection-background-color:rgb(255,209,128)");//����ѡ����и���
-
-	ui.recordLine_tableWidget->setSelectionBehavior(QAbstractItemView::SelectRows);//����ѡ����Ϊ������Ϊ��λ
-	//ui.recordLine_tableWidget->setSelectionMode(QAbstractItemView::SingleSelection);//����ѡ��ģʽ��ѡ����
-	//QHeaderView* headerView = ui.recordLine_tableWidget->verticalHeader();
-	//headerView->setHidden(true);//ȥ�����Ĭ���Դ����к�
-
-
-	ui.recordLine_tableWidget->setColumnCount(2);
-	ui.recordLine_tableWidget->setHorizontalHeaderLabels(QStringList() << "yPosition" << "xMaxPosition");
-
-	connect(ui.addRecordLine_btn, SIGNAL(clicked()), this, SLOT(onAddRecordLine_btn()));
-	connect(ui.removeRecordLine_btn, SIGNAL(clicked()), this, SLOT(onRemoveRecordLine_btn()));
-	connect(ui.generateRecordLine_btn, SIGNAL(clicked()), this, SLOT(onGenerateRecordLine_btn()));
-	connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
-	connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
-	connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
-}
-
-PathPlan::~PathPlan()
-{}
-
-void PathPlan::setMotor(VinceControl* xMotor, VinceControl* yMotor)
-{
-	m_xMotor = xMotor;
-	m_yMotor = yMotor;
-}
-
-QTableWidget* PathPlan::getRecordLineTableWidget()
-{
-	return ui.recordLine_tableWidget;
-}
-
-void PathPlan::onAddRecordLine_btn()
-{
-	//׼������
-	ByteBack MotorState = m_yMotor->GetState();
-	double currentPosOfYmotor = m_ySlider->getDistanceFromPulse(MotorState.Location);
-	double maxRangeOfXmotro = m_xSlider->maximum();
-
-	//��ȡѡ���е�����
-	int currentRow = ui.recordLine_tableWidget->currentRow();
-	std::cout << "currentRow��" << currentRow << std::endl;
-
-	QTableWidgetItem* Item1 = new QTableWidgetItem(QString::number(currentPosOfYmotor, 10, 2));
-	QTableWidgetItem* Item2 = new QTableWidgetItem(QString::number(maxRangeOfXmotro, 10, 2));
-	Item1->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	Item2->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-	if (currentRow == -1)//��û��ѡ����ʱ
-	{
-		int RowCount = ui.recordLine_tableWidget->rowCount();//Returns the number of rows. ��1��ʼ��
-		ui.recordLine_tableWidget->insertRow(RowCount);//����һ�У��β��Ǵ�0��ʼ��
-
-		ui.recordLine_tableWidget->setItem(RowCount, 0, Item1);
-		ui.recordLine_tableWidget->setItem(RowCount, 1, Item2);
-	}
-	else
-	{
-		ui.recordLine_tableWidget->insertRow(currentRow + 1);//����һ�У��β��Ǵ�0��ʼ��
-
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 0, Item1);
-		ui.recordLine_tableWidget->setItem(currentRow + 1, 1, Item2);
-	}
-}
-
-void PathPlan::onRemoveRecordLine_btn()
-{
-	int rowIndex = ui.recordLine_tableWidget->currentRow();
-	if (rowIndex != -1)
-		ui.recordLine_tableWidget->removeRow(rowIndex);
-}
-
-void PathPlan::onGenerateRecordLine_btn()
-{
-	//�����
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = (height * tan(fov / 2 * PI / 180)) * 2;//tan�����ǻ���
-	ui.swath_lineEdit->setText(QString::number(swath));
-
-
-	//��ȡ���������Χ
-	double xMotorRange = m_xSlider->maximum();
-	double yMotorRange = m_ySlider->maximum();
-
-
-	//ȷ���ж������ɼ��ߣ���ʽ��numberOfRecordLine_tmp * swath - repetitiveLength��numberOfRecordLine_tmp - 1�� = overallLength
-	double overallLength = yMotorRange + swath;
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble() / 100;
-	double repetitiveLength = repetitiveRate * swath;
-	double offset = ui.offset_lineEdit->text().toDouble();
-
-	double numberOfRecordLine_tmp = (overallLength - repetitiveLength - offset) / (swath - repetitiveLength);
-	double tmp = numberOfRecordLine_tmp - (int)numberOfRecordLine_tmp;
-	int numberOfRecordLine;
-	double threshold = ui.LastLineThreshold_lineEdit->text().toDouble();//��numberOfRecordLine_tmpΪС��ʱ���ж��Ƿ���һ���ɼ���
-	if (tmp > threshold)
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp + 1;
-		//std::cout << "���ڣ�" << threshold << std::endl;
-	}
-	else
-	{
-		numberOfRecordLine = (int)numberOfRecordLine_tmp;
-	}
-
-
-
-	//ȥ��tableWidget�����е���
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-
-
-	//��tableWidget�����У��ɼ��ߣ�
-	QTableWidgetItem* tmpItem;
-	for (size_t i = 0; i < numberOfRecordLine; i++)
-	{
-		//����һ��
-		int RowCount = ui.recordLine_tableWidget->rowCount();
-		ui.recordLine_tableWidget->insertRow(RowCount);
-
-		//����yPosition
-		if (tmp > threshold && i == numberOfRecordLine - 1)//�������һ�е�yPosition
-		{
-			tmpItem = new QTableWidgetItem(QString::number(yMotorRange, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-		else
-		{
-			double x = swath * i - i * repetitiveLength + offset;
-			tmpItem = new QTableWidgetItem(QString::number(x, 10, 2));
-			tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, 0, tmpItem);
-		}
-
-		//����x��������˶�λ�� �� ֵ����Ϊx��������
-		tmpItem = new QTableWidgetItem(QString::number(xMotorRange, 10, 2));
-		tmpItem->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-		ui.recordLine_tableWidget->setItem(i, 1, tmpItem);
-
-	}
-
-}
-
-void PathPlan::onDeleteRecordLine_btn()
-{
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-}
-
-void PathPlan::onSaveRecordLine2File_btn()
-{
-	//ȷ���ɼ��ߴ���
-	if (ui.recordLine_tableWidget->rowCount() <= 0)
-	{
-		QMessageBox::information(this, QString::fromLocal8Bit("��ʾ"), QString::fromLocal8Bit("�������ɹ켣��"));
-		return;
-	}
-
-	double height = ui.height_lineEdit->text().toDouble();
-	double fov = ui.fov_lineEdit->text().toDouble();
-	double swath = ui.swath_lineEdit->text().toDouble();
-	double offset = ui.offset_lineEdit->text().toDouble();
-	double repetitiveRate = ui.repetitiveRate_lineEdit->text().toDouble();
-	double LastLineThreshold = ui.LastLineThreshold_lineEdit->text().toDouble();
-
-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryOfExe();
-
-	QString RecordLineFilePath = QFileDialog::getSaveFileName(this, tr("Save RecordLine File"),
-		QString::fromStdString(directory),
-		tr("RecordLineFile (*.RecordLine)"));
-
-	if (RecordLineFilePath.isEmpty())
-	{
-		return;
-	}
-
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "wb+");
-
-	fwrite(&height, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fwrite(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
-
-	double number = ui.recordLine_tableWidget->rowCount() * ui.recordLine_tableWidget->columnCount();
-	fwrite(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	//double data[number];
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			data[i * ui.recordLine_tableWidget->columnCount() + j] = ui.recordLine_tableWidget->item(i, j)->text().toDouble();
-		}
-	}
-
-	fwrite(data, sizeof(double), number, RecordLineFileHandle);
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	QMessageBox::information(this, QString::fromLocal8Bit("��ʾ"), QString::fromLocal8Bit("����ɹ���"));
-}
-
-void PathPlan::onReadRecordLineFile_btn()
-{
-	//���ļ�
-	FileOperation* fileOperation = new FileOperation();
-	string directory = fileOperation->getDirectoryOfExe();
-	//string RecordLineFilePath = directory + "\\test.RecordLine";
-
-	QString RecordLineFilePath = QFileDialog::getOpenFileName(this, tr("Open RecordLine File"),
-		QString::fromStdString(directory),
-		tr("RecordLineFile (*.RecordLine)"));
-
-	if (RecordLineFilePath.isEmpty())
-	{
-		return;
-	}
-
-	FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
-	double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
-
-	//��ȡ����
-	fread(&height, sizeof(double), 1, RecordLineFileHandle);
-	fread(&fov, sizeof(double), 1, RecordLineFileHandle);
-	fread(&swath, sizeof(double), 1, RecordLineFileHandle);
-	fread(&offset, sizeof(double), 1, RecordLineFileHandle);
-	fread(&repetitiveRate, sizeof(double), 1, RecordLineFileHandle);
-	fread(&LastLineThreshold, sizeof(double), 1, RecordLineFileHandle);
-	fread(&number, sizeof(double), 1, RecordLineFileHandle);
-
-	double* data = new double[number];
-	for (size_t i = 0; i < number; i++)
-	{
-		fread(data + i, sizeof(double), 1, RecordLineFileHandle);
-		//std::cout << *(data + i) << std::endl;
-	}
-
-	//���������д
-	ui.height_lineEdit->setText(QString::number(height));
-	ui.fov_lineEdit->setText(QString::number(fov));
-	ui.swath_lineEdit->setText(QString::number(swath));
-	ui.offset_lineEdit->setText(QString::number(offset));
-	ui.repetitiveRate_lineEdit->setText(QString::number(repetitiveRate));
-	ui.LastLineThreshold_lineEdit->setText(QString::number(LastLineThreshold));
-
-
-	//��tableWidget���Ӳɼ���
-	//��1��ȥ��tableWidget�����е���
-	int rowCount = ui.recordLine_tableWidget->rowCount();
-	for (size_t i = 0; i < rowCount; i++)
-	{
-		ui.recordLine_tableWidget->removeRow(0);
-	}
-	//��2�������У��ɼ��ߣ�
-	int RecordLineCount = number / ui.recordLine_tableWidget->columnCount();
-	for (size_t i = 0; i < RecordLineCount; i++)
-	{
-		ui.recordLine_tableWidget->insertRow(0);
-
-	}
-	//��3����tableWidget�������
-	for (size_t i = 0; i < ui.recordLine_tableWidget->rowCount(); i++)
-	{
-		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
-		{
-			QTableWidgetItem* tmp = new QTableWidgetItem(QString::number(data[i * ui.recordLine_tableWidget->columnCount() + j], 10, 5));
-			tmp->setTextAlignment(Qt::AlignHCenter | Qt::AlignVCenter);
-			ui.recordLine_tableWidget->setItem(i, j, tmp);
-		}
-	}
-
-	fclose(RecordLineFileHandle);
-	delete[] data;
-
-	QMessageBox::information(this, QString::fromLocal8Bit("��ʾ"), QString::fromLocal8Bit("��ȡ�ɹ���"));
-
-}
diff --git a/HPPA/PathPlan.h b/HPPA/PathPlan.h
deleted file mode 100644
index 0bd5e5f..0000000
--- a/HPPA/PathPlan.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <QDialog>
-#include "ui_PathPlan.h"
-#include "vincecontrol.h"
-#include <QMotorDoubleSlider.h>
-
-#define PI 3.1415926
-
-class PathPlan : public QDialog
-{
-	Q_OBJECT
-
-public:
-	PathPlan(VinceControl* xMotor, VinceControl* yMotor, QMotorDoubleSlider* xSlider, QMotorDoubleSlider* ySlider, QWidget* parent = nullptr);
-	~PathPlan();
-
-	void setMotor(VinceControl* xMotor, VinceControl* yMotor);
-	QTableWidget* getRecordLineTableWidget();
-
-private:
-	Ui::PathPlanClass ui;
-
-	VinceControl* m_xMotor;
-	VinceControl* m_yMotor;
-	
-	QMotorDoubleSlider* m_xSlider;
-	QMotorDoubleSlider* m_ySlider;
-
-public Q_SLOTS:
-	void onAddRecordLine_btn();
-	void onRemoveRecordLine_btn();
-	void onGenerateRecordLine_btn();
-	void onDeleteRecordLine_btn();
-	void onSaveRecordLine2File_btn();
-	void onReadRecordLineFile_btn();
-};
diff --git a/HPPA/RadianceConversion.ui b/HPPA/RadianceConversion.ui
new file mode 100644
index 0000000..4367043
--- /dev/null
+++ b/HPPA/RadianceConversion.ui
@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>RadianceConversion_UI</class>
+ <widget class="QDialog" name="RadianceConversion_UI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>544</width>
+    <height>177</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>辐亮度转换</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>影像</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_6">
+         <property name="text">
+          <string>定标文件</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QLineEdit" name="imgPath_lineEdit">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="calFilePath_lineEdit">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: rgb(255, 255, 255);</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QPushButton" name="imgSelect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="calFileSelect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>...</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="conversion_btn">
+       <property name="text">
+        <string>转换</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>191</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/HPPA/ReflectanceConversion.ui b/HPPA/ReflectanceConversion.ui
new file mode 100644
index 0000000..a9418b3
--- /dev/null
+++ b/HPPA/ReflectanceConversion.ui
@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ReflectanceConversion_UI</class>
+ <widget class="QDialog" name="ReflectanceConversion_UI">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>544</width>
+    <height>177</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>反射率转换</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <item>
+        <widget class="QLabel" name="label">
+         <property name="text">
+          <string>影像</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_6">
+         <property name="text">
+          <string>白板影像</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QLineEdit" name="imgPath_lineEdit">
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLineEdit" name="whiteImgPath_lineEdit">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>16777215</width>
+           <height>16777215</height>
+          </size>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">background-color: rgb(255, 255, 255);</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+         <property name="readOnly">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <item>
+        <widget class="QPushButton" name="imgSelect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>...</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="whiteImgSelect_btn">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="text">
+          <string>...</string>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+   <item row="1" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="conversion_btn">
+       <property name="text">
+        <string>转换</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item row="2" column="0">
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>191</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/HPPA/TwoMotorControl.cpp b/HPPA/TwoMotorControl.cpp
index ecec9b5..63a5d63 100644
--- a/HPPA/TwoMotorControl.cpp
+++ b/HPPA/TwoMotorControl.cpp
@@ -65,6 +65,30 @@ bool TwoMotorControl::getState()
 	return tmp;
 }
 
+void TwoMotorControl::record_dark()
+{
+	double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+
+	if (m_darkCaptureCoordinator == nullptr)
+	{
+		m_darkCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(0, m_multiAxisController, m_Imager);
+	}
+
+	m_darkCaptureCoordinator->startStepMotion(s);
+}
+
+void TwoMotorControl::record_white()
+{
+	double s = ui.xmotor_move_speed_lineEdit->text().toDouble();
+
+	if (m_whiteCaptureCoordinator == nullptr)
+	{
+		m_whiteCaptureCoordinator = new DarkAndWhiteCaptureCoordinator(1, m_multiAxisController, m_Imager);
+	}
+
+	m_whiteCaptureCoordinator->startStepMotion(s);
+}
+
 void TwoMotorControl::run()
 {
 	if (m_coordinator==nullptr)
diff --git a/HPPA/TwoMotorControl.h b/HPPA/TwoMotorControl.h
index f9d7627..383a38a 100644
--- a/HPPA/TwoMotorControl.h
+++ b/HPPA/TwoMotorControl.h
@@ -24,6 +24,9 @@ public:
     void setImager(ImagerOperationBase* imager);
     void setPosFileName(QString posFileName);
 
+    void record_dark();
+    void record_white();
+
 private:
     ImagerOperationBase* m_Imager;
     bool getState();
@@ -84,6 +87,9 @@ private:
     QThread m_coordinatorThread;
     TwoMotionCaptureCoordinator* m_coordinator = nullptr;
 
+    DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
+    DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
+
     QThread m_motorThread;
     IrisMultiMotorController* m_multiAxisController;
 };
diff --git a/HPPA/about.ui b/HPPA/about.ui
index 0608e09..7c2799a 100644
--- a/HPPA/about.ui
+++ b/HPPA/about.ui
@@ -70,7 +70,7 @@
     </rect>
    </property>
    <property name="text">
-    <string>版本：1.9.0</string>
+    <string>版本：2.0</string>
    </property>
   </widget>
   <widget class="QLabel" name="label_4">