fix: 夹爪调试参数变更

src/stores/debugStore.ts

@@ -66,7 +66,8 @@ export const useDebugStore = defineStore('debug', {
         // 夹爪
         JawData: {
           velocity: undefined,
-          distance: undefined,
+          openDistance: undefined,
+          closeDistance: undefined,
           times: undefined,
         },
       },

src/types/debug.d.ts

@@ -71,7 +71,8 @@ declare namespace Debug {
 
   interface JawData {
     velocity: number | undefined
-    distance: number | undefined
+    openDistance: number | undefined
+    closeDistance: number | undefined
     times: number | undefined
   }
 

src/views/debug/index.vue

@@ -348,13 +348,14 @@ const debug_transportation_arm_reset = async (motor: 'x' | 'y' | 'z') => {
 }
 
 const debug_transportation_arm_move = async (motor: 'x' | 'y' | 'z', direction: 'forward' | 'backward') => {
+  const distance = direction === 'backward' ? -debugStore.formData.transferModule[`${motor}MotorData`][`${motor}DimDistance`] : debugStore.formData.transferModule[`${motor}MotorData`][`${motor}DimDistance`]
   currentCommandId = Date.now().toString()
   const params = {
     commandId: currentCommandId,
     command: 'debug_transportation_arm_move',
     params: {
       ...debugStore.formData.transferModule[`${motor}MotorData`],
-      [`${motor}DimDistance`]: direction === 'backward' ? -debugStore.formData.transferModule[`${motor}MotorData`][`${motor}DimDistance`] : debugStore.formData.transferModule[`${motor}MotorData`][`${motor}DimDistance`],
+      [`${motor}DimDistance`]: distance,
     },
   }
   await debugStore.sendControl(params)
@@ -384,17 +385,17 @@ const debug_holding_jaw_open = async () => {
   await debugStore.sendControl(params)
 }
 
-const debug_holding_jaw_close = async () => {
-  currentCommandId = Date.now().toString()
-  const params = {
-    commandId: currentCommandId,
-    command: 'debug_holding_jaw_close',
-    params: {
-      ...debugStore.formData.transferModule.JawData,
-    },
-  }
-  await debugStore.sendControl(params)
-}
+// const debug_holding_jaw_close = async () => {
+//   currentCommandId = Date.now().toString()
+//   const params = {
+//     commandId: currentCommandId,
+//     command: 'debug_holding_jaw_close',
+//     params: {
+//       ...debugStore.formData.transferModule.JawData,
+//     },
+//   }
+//   await debugStore.sendControl(params)
+// }
 
 const debug_holding_jaw_pause = async () => {
   currentCommandId = Date.now().toString()
@@ -570,8 +571,15 @@ const debug_door_stop = async () => {
           <el-divider>夹爪舵机</el-divider>
           <div class="card-box">
             <el-form>
-              <el-form-item label="距离">
-                <el-input v-model.number="debugStore.formData.transferModule.JawData.distance" type="number" placeholder="请输入距离">
+              <el-form-item label="打开位置">
+                <el-input v-model.number="debugStore.formData.transferModule.JawData.openDistance" type="number" placeholder="请输入打开位置">
+                  <template #append>
+                    mm
+                  </template>
+                </el-input>
+              </el-form-item>
+              <el-form-item label="闭合位置">
+                <el-input v-model.number="debugStore.formData.transferModule.JawData.closeDistance" type="number" placeholder="请输入闭合位置">
                   <template #append>
                     mm
                   </template>
@@ -593,10 +601,7 @@ const debug_door_stop = async () => {
               </el-form-item>
               <el-form-item>
                 <ft-button type="primary" :click-handle="debug_holding_jaw_open">
-                  打开
-                </ft-button>
-                <ft-button type="primary" :click-handle="debug_holding_jaw_close">
-                  闭合
+                  执行
                 </ft-button>
                 <ft-button :click-handle="debug_holding_jaw_pause">
                   停止