UPDATE

TeamAAS-VM/Services/CameraCalibrationService.cs

@@ -987,7 +987,7 @@ namespace TeamAAS_VP.Services
                 offsetx = P0.X - curPixel.X;
                 offsety = P0.Y - curPixel.Y;
                 //await Console.Out.WriteLineAsync($"移动后的差异：{offsetx}，{offsety}");
-                if (Math.Abs(offsetx) < 3 && Math.Abs(offsetx) < 3)
+                if (Math.Abs(offsetx) < 2 && Math.Abs(offsety) < 2)
                 {
                     IsFinish = true;
                     break;
@@ -1917,6 +1917,7 @@ namespace TeamAAS_VP.Services
             {
                 return (false, null, null);
             }
+            Console.WriteLine($"移动前：{autoMoveResult.X}");
 
             // 5.记录当前机器人Tool 0下的坐标转换成工具坐标下的坐标，并记录下来
             ToolCoord toolCoord = new ToolCoord();
@@ -1927,6 +1928,9 @@ namespace TeamAAS_VP.Services
             var p1 = toolCoord.GetToolnCoord(p, currentRobotPos.U);
             PointF P1 = new PointF((float)p1[0], (float)p1[1]);
 
+            //获取相机模组当前坐标
+            var curpos = await ((XYZU_Robot)robot).GetCameraPosAsync(calibrationInfo.CameraMotionModuleIndex);
+            Console.WriteLine($"相机移动前：{curpos.X}");
             // 6.移动独立模组至标定点位置
             var movePos = calibrationInfo.IndependentDownCameraMotionModulePoint.Clone();
             movePos.X += (float)calibrationInfo.IndependentDownCameraMotionModuleMoveX;