diff --git a/matrix-spray.db b/matrix-spray.db
index d046a76..71ea234 100644
Binary files a/matrix-spray.db and b/matrix-spray.db differ
diff --git a/src/main/java/com/qyft/ms/app/controller/CMDController.java b/src/main/java/com/qyft/ms/app/controller/CMDController.java
index 7f2a0ee..ef2aea2 100644
--- a/src/main/java/com/qyft/ms/app/controller/CMDController.java
+++ b/src/main/java/com/qyft/ms/app/controller/CMDController.java
@@ -165,7 +165,7 @@ public class CMDController {
         }
     }
 
-    @Operation(summary = "以指定转速、方向和时间开启注射泵")
+    @Operation(summary = "以指定转速、方向开启注射泵")
     @PostMapping("/turnOnSyringePump")
     public Result<String> turnOnSyringePump(@RequestBody CMDForm cmdForm) {
         try {
diff --git a/src/main/java/com/qyft/ms/app/service/CMDService.java b/src/main/java/com/qyft/ms/app/service/CMDService.java
index baa37d2..330c698 100644
--- a/src/main/java/com/qyft/ms/app/service/CMDService.java
+++ b/src/main/java/com/qyft/ms/app/service/CMDService.java
@@ -121,7 +121,12 @@ public class CMDService {
                 .map(Number.class::cast)
                 .map(Number::doubleValue)
                 .orElse(0.0);
-        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(rotationSpeed));
+        int direction = (int) params.get("direction");
+        if(direction == 0) {
+            rotationSpeed = -rotationSpeed;
+        }
+        double finalRotationSpeed = rotationSpeed;
+        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(finalRotationSpeed));
         initExecutorThread(cmdList, form);
         return true;
     }
@@ -190,9 +195,6 @@ public class CMDService {
         cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("Z", 10));
 
         // 回到原点
-        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", 5));
-        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", 5));
-        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 5));
 
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
@@ -225,7 +227,7 @@ public class CMDService {
             List<PathGenerator.Points> horizontalPath = generatePathPoints(
                     left, right, top, bottom, space, routeType == 1 ? PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN : PathGenerator.MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
             );
-            log.info("horizontalPath:{}", horizontalPath);
+            log.info("horizontalPath:{}", JSONUtil.toJsonStr(horizontalPath));
             if(horizontalPath.isEmpty()) {
                 return "路径规划失败";
             }
@@ -239,9 +241,10 @@ public class CMDService {
             if(height < 15) {
                 return "高度设置太低,有撞针的风险";
             }
-            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z",z - height ));
+
             cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", left));
             cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", top));
+            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z",z - height ));
 
             // 是否加电 电压
             Object voltage = params.get("voltage");
@@ -271,27 +274,37 @@ public class CMDService {
                     return true;
                 });
             }
-
+            double currentX = left;
+            double currentY = top;
             // 执行轨迹
             for (PathGenerator.Points point : horizontalPath) {
 
                 double nextX = (int) point.getX();
                 double nextY = (int) point.getY();
                 log.info("当前喷针位置x:{}, y:{}", nextX, nextY );
-                cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", nextX));
-                cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", nextY));
+                if (currentX != nextX) {
+                    cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", nextX));
+                }
+                if (currentY != nextY) {
+                    cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", nextY));
+                }
+//                cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", nextX));
+//                cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", nextY));
+                currentX= nextX;
+                currentY= nextY;
             }
             // 停止喷涂
             cmdList.add(deviceTcpCMDService::turnOffSyringePump);
             // 关闭喷嘴阀
-            cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
+            cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false));
         }
         // 关闭高压
         cmdList.add(deviceTcpCMDService::turnOffHighVoltage);
         // 回到原点
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
-        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+
 
         // 结束日志
         cmdList.add( () -> {
@@ -366,8 +379,10 @@ public class CMDService {
         // 关闭喷嘴阀
         cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
         // 回到原点
-        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
         cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
+
         // 结束日志
         cmdList.add( () -> {
             OperationLog operationLog = operationLogService.getIng();
@@ -400,17 +415,23 @@ public class CMDService {
         Map<String, Object> params = form.getParams();
         String type = (String) params.get("type");
 
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Z"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("X"));
+        cmdList.add(() -> deviceTcpCMDService.motorMoveToHome("Y"));
+
+        Map<String, Double> wasteLiquorPosition = sysSettingsService.getWasteLiquorPosition();
+
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", wasteLiquorPosition.get("x")));
+        cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", wasteLiquorPosition.get("z")));
+
 //        type: "injector" | "nozzle"
         if(Objects.equals(type, "injector")) {
             cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray"));
-            cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", true));
+            cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(1000));
         } else if (Objects.equals(type, "nozzle")) {
-            Map<String, Double> wasteLiquorPosition = sysSettingsService.getWasteLiquorPosition();
-            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("X", wasteLiquorPosition.get("x")));
-            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", wasteLiquorPosition.get("y")));
-            cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Z", wasteLiquorPosition.get("z")));
+
             cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_nozzle"));
-            cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
+            cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", true));
         }
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("washing");
@@ -426,6 +447,7 @@ public class CMDService {
         cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("close_all"));
         cmdList.add(() -> deviceTcpCMDService.controlValve("Cleaning", false));
         cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", false));
+        cmdList.add(deviceTcpCMDService::turnOffSyringePump);
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("idle");
             return true;
@@ -462,11 +484,15 @@ public class CMDService {
     public boolean startPrefill(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
         Map<String, Object> params = form.getParams();
-
+double rotationSpeed =  Optional.ofNullable(params.get("rotationSpeed"))
+                .filter(Number.class::isInstance)
+                .map(Number.class::cast)
+                .map(Number::doubleValue)
+                .orElse(0.0);
         cmdList.add(() -> deviceTcpCMDService.switchThreeWayValve("clear_spray"));
 
         cmdList.add(() -> deviceTcpCMDService.controlValve("Nozzle", true));
-        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump((Double) params.get("rotationSpeed")));
+        cmdList.add(() -> deviceTcpCMDService.turnOnSyringePump(rotationSpeed));
         cmdList.add(() -> {
             sysSettingsService.updateWorkStatus("prefilling");
             return true;
@@ -517,7 +543,9 @@ public class CMDService {
             while (true) {
                 double targetHumidity = sysSettingsService.getTargetHumidity();
                 DeviceStatus deviceStatus = deviceStatusService.getDeviceStatus();
-                if (deviceStatus.getHumidity()<=targetHumidity ) {
+//                log.info("当前湿度：{}", deviceStatus.getHumidity());
+//                log.info("目标湿度：{}", targetHumidity);
+                if  (deviceStatus.getHumidity()<=targetHumidity) {
                     deviceTcpCMDService.controlValve("Dehumidification", false);
                     sysSettingsService.updateWorkStatus("idle");
                     Map<String, String> result = new HashMap<>();
@@ -561,17 +589,20 @@ public class CMDService {
         return true;
     }
 
-    // 托盘推入
+    // 托盘推出
     public boolean trayOut(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("Y", 20));
         cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 150));
+
         initExecutorThread(cmdList, form);
         return true;
     }
 
-    // 托盘推出
+    // 托盘推入
     public boolean trayIn(CMDForm form) {
         List<Supplier<Boolean>> cmdList = new ArrayList<>();
+        cmdList.add(() -> deviceTcpCMDService.setMotorSpeed("Y", 20));
         cmdList.add(() -> deviceTcpCMDService.moveMotorToPosition("Y", 0));
         initExecutorThread(cmdList, form);
         return true;
@@ -604,6 +635,7 @@ public class CMDService {
         executionResult.setStatus(CMDResultCode.SUCCESS.getCode());
         executionResult.setMessage(CMDResultCode.SUCCESS.getMsg());
         webSocketService.pushMsg(WebSocketMessageType.CMD, executionResult);
+
     }
 
 }
diff --git a/src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java b/src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java
index f7e66ab..a96ab15 100644
--- a/src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java
+++ b/src/main/java/com/qyft/ms/app/service/impl/ISysSettingsServiceImpl.java
@@ -47,8 +47,8 @@ public class ISysSettingsServiceImpl extends ServiceImpl<SysSettingsMapper, SysS
         String [] positionList = position.split(",");
         wasteLiquorPosition = Map.of(
                 "x", Double.parseDouble(positionList[0]),
-                "y", Double.parseDouble(positionList[0]),
-                "z", Double.parseDouble(positionList[0])
+                "y", Double.parseDouble(positionList[1]),
+                "z", Double.parseDouble(positionList[2])
         );
 
     }