diff --git a/src/services/globalCmd/globalCmd.ts b/src/services/globalCmd/globalCmd.ts
index 4f2788a..9e26bcc 100644
--- a/src/services/globalCmd/globalCmd.ts
+++ b/src/services/globalCmd/globalCmd.ts
@@ -22,7 +22,6 @@ export function switchThreeWayValve(params: { type: string }) {
 	});
 }
 
-
 //氮气三路
 export function controlValve(params: ControlValueType) {
 	const commandId = addTxnRecord({ ...params, category: "debug" });
@@ -72,6 +71,9 @@ export function pushInTray(params: Record<string, any>) {
 export function rotate(params: any) {
 	return httpRequest<BaseResponse<string>>({ url: "/api/cmd/rotate", params, method: "POST" });
 }
+export function setMotorSpeed(params: { axis: "X" | "Y" | "Z"; speed: number }) {
+	return httpRequest<BaseResponse<string>>({ url: "/api/cmd/setMotorSpeed", params: { params }, method: "POST" });
+}
 
 export type SprayParam = {
 	matrixId: number;
@@ -103,7 +105,6 @@ export function stopDehumidify() {
 	return httpRequest<BaseResponse>({ url: "/api/cmd/stopDehumidify", method: "POST" });
 }
 
-
 //停止电机
 export function stopMotor(params: any) {
 	return httpRequest<BaseResponse<string>>({ url: "/api/cmd/stopMotor", params, method: "POST" });
diff --git a/src/views/debug/index.vue b/src/views/debug/index.vue
index 08a0be5..f66c50e 100644
--- a/src/views/debug/index.vue
+++ b/src/views/debug/index.vue
@@ -1,127 +1,142 @@
 <template>
-  <main>
-    <div class="ml-[20px]">
-      <el-tabs v-model="activeName" class="demo-tabs">
-        <el-tab-pane label="设备调试" name="debug"></el-tab-pane>
-        <el-tab-pane label="应用调试" name="app"></el-tab-pane>
-      </el-tabs>
-    </div>
-    <div v-if="activeName == 'debug'">
-      <div class="debug_axis">
-        <div class="axis">
-          <div class="w-[3rem]">X轴：</div>
-          <input v-model="machineryForm.X"  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[80px]" />
-          <div class="w-[3rem]">毫米</div>
-          <div class="flex">
-            <el-button type="primary" @click="onMoveMachinery('X')">移动</el-button>
-            <el-button type="primary" @click="onStopRotate('X')">停止</el-button>
-          </div>
-        </div>
-        <div class="axis">
-          <div class="w-[4rem]">Y轴：</div>
-          <input v-model="machineryForm.Y"  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[80px]" />
-          <div class=" w-[2.5rem]">毫米</div>
-          <div class="flex">
-            <el-button type="primary" @click="onMoveMachinery('Y')">移动</el-button>
-            <el-button type="primary" @click="onStopRotate('Y')">停止</el-button>
-          </div>
-        </div>
-        <div class="axis">
-          <div class="w-[3rem]">Z轴：</div>
-          <input v-model="machineryForm.Z" type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[80px]" />
-          <div class="w-[2.5rem]">毫米</div>
-          <div class="flex">
-            <el-button type="primary" @click="onMoveMachinery('Z')">移动</el-button>
-            <el-button type="primary" @click="onStopRotate('Z')">停止</el-button>
-          </div>
-        </div>
-      </div>
-      <div class="debug_main">
-        <div class="debug_left">
-          
-          <div class="mt-[10px]">
-            <el-row>
-              <el-col :span="6" class="text-right">
-                电压控制器：
-              </el-col>
-              <el-col :span="6" class="ml-[20px]">
-                <input v-model="voltageValue" placeholder='0~5000v' type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              </el-col>
-              <el-col :span="8">
-                <el-button type="primary" @click="onTurnOnHighVoltage">开启</el-button>
-                <el-button @click="onTurnOffHighVoltage">关闭</el-button>
-              </el-col>
-            </el-row>
-            <el-divider />
-            <el-row class="mt-[10px] ">
-              <el-col :span="4" class="text-right">
-                注射泵：
-              </el-col>
-              <el-col :span="20">
-                <div class="ml-[20px]">
-                  <input v-model="syringeForm.rotationSpeed" placeholder='转速'  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />毫米/秒
-                </div>
-                <div class="mt-[10px] ml-[20px]">
-                  <input v-model="syringeForm.time" placeholder='时间'  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />秒
-                </div>
-                <div class="ml-[20px]  mt-[10px]">
-                  方向：
-                  <el-radio v-model="syringeForm.direction" value="0">后退</el-radio>
-                  <el-radio v-model="syringeForm.direction" value="1">前进</el-radio>
-                  <br/>
-                  <el-button type="primary" @click="onTurnOnSyringePump">开始</el-button>
-                  <el-button type="primary" class="ml-[20px]" @click="onTurnOffSyringePump">停止</el-button>
-                </div>
-              </el-col>
-            </el-row>
-            <el-divider />
-            <el-row class="mt-[10px]">
-              <el-col :span="6" class="text-right">
-                湿度：
-              </el-col>
-              <el-col :span="12" class="ml-[20px]">
-                <input placeholder='湿度'  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-                <div class="flex mt-[10px]">
-                  <el-button type="primary">开始除湿</el-button>
-                  <el-button type="primary">结束除湿</el-button> 
-                </div>
-              </el-col>
-              
-            </el-row>
-            <el-divider />
-
-            <el-row class="mt-[10px]">
-              <el-col :span="4" class="text-right">
-                
-              </el-col>
-              <el-col :span="18">
-                <div>指定转速&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;指定时间：</div>
-                <el-radio-group v-model="rotateForm.axis">
-                  <el-radio value="X">X</el-radio>
-                  <el-radio value="Y">Y</el-radio>
-                  <el-radio value="Z">Z</el-radio>
-                </el-radio-group>
-                <div>
-                  速度:<input type="number" v-model="rotateForm.rotationSpeed" placeholder=''  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />毫米/秒
-                  <!-- 时间:<input type="number" v-model="rotateForm.time" placeholder='' class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />毫秒 -->
-                </div>
-                <div class="mt-[20px]">
-                  <el-button type="primary" @click="onRotate">确定</el-button>
-
-
-                  <!-- X:向左 向右 回原点
+	<main>
+		<div class="ml-[20px]">
+			<el-tabs v-model="activeName" class="demo-tabs">
+				<el-tab-pane label="设备调试" name="debug"></el-tab-pane>
+				<el-tab-pane label="应用调试" name="app"></el-tab-pane>
+			</el-tabs>
+		</div>
+		<div v-if="activeName == 'debug'">
+			<div class="debug_axis">
+				<div class="axis">
+					<div class="w-[3rem]">X轴：</div>
+					<input
+						v-model="machineryForm.X"
+						type="number"
+						class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[80px]" />
+					<div class="w-[3rem]">毫米</div>
+					<div class="flex">
+						<el-button type="primary" @click="onMoveMachinery('X')">移动</el-button>
+						<el-button type="primary" @click="onStopRotate('X')">停止</el-button>
+					</div>
+				</div>
+				<div class="axis">
+					<div class="w-[4rem]">Y轴：</div>
+					<input
+						v-model="machineryForm.Y"
+						type="number"
+						class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[80px]" />
+					<div class="w-[2.5rem]">毫米</div>
+					<div class="flex">
+						<el-button type="primary" @click="onMoveMachinery('Y')">移动</el-button>
+						<el-button type="primary" @click="onStopRotate('Y')">停止</el-button>
+					</div>
+				</div>
+				<div class="axis">
+					<div class="w-[3rem]">Z轴：</div>
+					<input
+						v-model="machineryForm.Z"
+						type="number"
+						class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[80px]" />
+					<div class="w-[2.5rem]">毫米</div>
+					<div class="flex">
+						<el-button type="primary" @click="onMoveMachinery('Z')">移动</el-button>
+						<el-button type="primary" @click="onStopRotate('Z')">停止</el-button>
+					</div>
+				</div>
+			</div>
+			<div class="debug_main">
+				<div class="debug_left">
+					<div class="mt-[10px]">
+						<el-row>
+							<el-col :span="6" class="text-right"> 电压控制器： </el-col>
+							<el-col :span="6" class="ml-[20px]">
+								<input
+									v-model="voltageValue"
+									placeholder="0~5000v"
+									type="number"
+									class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							</el-col>
+							<el-col :span="8">
+								<el-button type="primary" @click="onTurnOnHighVoltage">开启</el-button>
+								<el-button @click="onTurnOffHighVoltage">关闭</el-button>
+							</el-col>
+						</el-row>
+						<el-divider />
+						<el-row class="mt-[10px]">
+							<el-col :span="4" class="text-right"> 注射泵： </el-col>
+							<el-col :span="20">
+								<div class="ml-[20px]">
+									<input
+										v-model="syringeForm.rotationSpeed"
+										placeholder="转速"
+										type="number"
+										class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />毫米/秒
+								</div>
+								<div class="mt-[10px] ml-[20px]">
+									<input
+										v-model="syringeForm.time"
+										placeholder="时间"
+										type="number"
+										class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />秒
+								</div>
+								<div class="ml-[20px] mt-[10px]">
+									方向：
+									<el-radio v-model="syringeForm.direction" value="0">后退</el-radio>
+									<el-radio v-model="syringeForm.direction" value="1">前进</el-radio>
+									<br />
+									<el-button type="primary" @click="onTurnOnSyringePump">开始</el-button>
+									<el-button type="primary" class="ml-[20px]" @click="onTurnOffSyringePump">停止</el-button>
+								</div>
+							</el-col>
+						</el-row>
+						<el-divider />
+						<el-row class="mt-[10px]">
+							<el-col :span="6" class="text-right"> 湿度： </el-col>
+							<el-col :span="12" class="ml-[20px]">
+								<input
+									placeholder="湿度"
+									type="number"
+									class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+								<div class="flex mt-[10px]">
+									<el-button type="primary">开始除湿</el-button>
+									<el-button type="primary">结束除湿</el-button>
+								</div>
+							</el-col>
+						</el-row>
+						<el-divider />
+
+						<el-row class="mt-[10px]">
+							<el-col :span="4" class="text-right"> </el-col>
+							<el-col :span="18">
+								<div>指定转速&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;指定时间：</div>
+								<el-radio-group v-model="rotateForm.axis">
+									<el-radio value="X">X</el-radio>
+									<el-radio value="Y">Y</el-radio>
+									<el-radio value="Z">Z</el-radio>
+								</el-radio-group>
+								<div>
+									速度:<input
+										type="number"
+										v-model="rotateForm.speed"
+										placeholder=""
+										class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />毫米/秒
+									<!-- 时间:<input type="number" v-model="rotateForm.time" placeholder='' class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />毫秒 -->
+								</div>
+								<div class="mt-[20px]">
+									<el-button type="primary" @click="onRotate">确定</el-button>
+
+									<!-- X:向左 向右 回原点
                   Y:前进 后退 回原点
                   Z:向上 向下 回原点
                   转速：速度  单位：毫米/秒 -->
 
+									<!-- <el-button type="primary" @click="onStopRotate">停止</el-button> -->
+								</div>
+							</el-col>
+						</el-row>
 
-
-                  <!-- <el-button type="primary" @click="onStopRotate">停止</el-button> -->
-                </div>
-              </el-col>
-            </el-row>
-             
-            <!-- <el-row class="mt-[10px]">
+						<!-- <el-row class="mt-[10px]">
               <el-col :span="6" class="text-right">
                 推基质容量：
               </el-col>
@@ -143,420 +158,449 @@
                 <el-button type="primary">确定</el-button>
               </el-col>
             </el-row> -->
-            
-          </div>
-        </div>
-        <div class="debug_right">
-          <div>
-            <el-button type="primary">急停</el-button>
-            <el-button type="primary" @click="onTurnOnLightPanel">开启照明灯</el-button>
-            <el-button @click="onTurnOffLightPanel">关闭照明灯</el-button>
-          </div>
-          <el-divider />
-          <div>
-            <div>切换三通</div>
-            <el-button type="primary" @click="onSwitchThreeWayValve('clean')">管路切换到基质</el-button>
-            <el-button type="primary" @click="onSwitchThreeWayValve('spray')">管路切换到清洗</el-button>
-          </div>
-          <el-divider />
-          <div>
-            <div>气压阀</div>
-            <div>
-              <el-button type="primary" @click="onControlValve('Cleaning',true)">打开清洗阀</el-button>
-              <el-button @click="onControlValve('Cleaning',false)">关闭清洗阀</el-button>
-            </div>
-            <div class="mt-[10px]">
-              <el-button type="primary" @click="onControlValve('Nozzle',true)">打开喷嘴阀</el-button>
-              <el-button  @click="onControlValve('Nozzle',false)">关闭喷嘴阀</el-button>
-            </div>
-            <div class="mt-[10px]">
-              <el-button type="primary" @click="onControlValve('Dehumidification',true)">打开除湿阀</el-button>
-              <el-button  @click="onControlValve('Dehumidification',false)">关闭除湿阀</el-button>
-            </div>
-          </div>
-          <el-divider />
-          <!-- <div class="mt-[10px]">
+					</div>
+				</div>
+				<div class="debug_right">
+					<div>
+						<el-button type="primary">急停</el-button>
+						<el-button type="primary" @click="onTurnOnLightPanel">开启照明灯</el-button>
+						<el-button @click="onTurnOffLightPanel">关闭照明灯</el-button>
+					</div>
+					<el-divider />
+					<div>
+						<div>切换三通</div>
+						<el-button type="primary" @click="onSwitchThreeWayValve('clean')">管路切换到基质</el-button>
+						<el-button type="primary" @click="onSwitchThreeWayValve('spray')">管路切换到清洗</el-button>
+					</div>
+					<el-divider />
+					<div>
+						<div>气压阀</div>
+						<div>
+							<el-button type="primary" @click="onControlValve('Cleaning', true)">打开清洗阀</el-button>
+							<el-button @click="onControlValve('Cleaning', false)">关闭清洗阀</el-button>
+						</div>
+						<div class="mt-[10px]">
+							<el-button type="primary" @click="onControlValve('Nozzle', true)">打开喷嘴阀</el-button>
+							<el-button @click="onControlValve('Nozzle', false)">关闭喷嘴阀</el-button>
+						</div>
+						<div class="mt-[10px]">
+							<el-button type="primary" @click="onControlValve('Dehumidification', true)">打开除湿阀</el-button>
+							<el-button @click="onControlValve('Dehumidification', false)">关闭除湿阀</el-button>
+						</div>
+					</div>
+					<el-divider />
+					<!-- <div class="mt-[10px]">
             <el-button type="primary">关闭电压控制器</el-button>
           </div> -->
-          <!-- <el-divider />
+					<!-- <el-divider />
           <div class="h-[13rem] bg-[#f4f4f4] p-[10px]">
             <div>状态反馈区</div>
              
           </div> -->
-        </div>
-      </div>
-    </div>
-    <div v-if="activeName == 'app'">
-      <div class="bg-[#FBFBFB] h-[75vh] p-[10px]">
-        <el-row class="mt-[10px]">
-          <el-col :span="3" class="text-right">
-            开始喷涂：
-          </el-col>
-
-          <el-col :span="12" class="ml-[20px]">
-            <div>喷涂路线</div>
-            <div>
-              <el-radio-group v-model="workForm.routeType">
-                <el-radio :value="1">横向</el-radio>
-                <el-radio :value="2">纵向</el-radio>
-              </el-radio-group>
-            </div>
-            <div class="mt-[20px]">
-              选择玻片：
-              <el-radio-group v-model="axis.index">
-                <el-radio :value='0'>玻片1</el-radio>
-                <el-radio :value='1'>玻片2</el-radio>
-                <el-radio :value='2'>玻片3</el-radio>
-                <el-radio :value='3'>玻片4</el-radio>
-              </el-radio-group>
-            </div>
-            <div class="mt-[20px]">
-              行间距：
-              <input v-model="workForm.space" placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              毫米
-            </div>
-
-            <div class="mt-[20px]">
-              氮气流速：
-              <input v-model="workForm.nitrogenFlowVelocity" placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              毫米/秒
-            </div>
-
-            <div class="mt-[20px]">
-              氮气气压：
-              <input v-model="workForm.matrixFlowVelocity" placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              Mp
-            </div>
-
-            <div class="mt-[20px]">
-              电压：
-              <input v-model="workForm.voltage " placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              V
-            </div>
-
-            <div class="mt-[20px]">
-              喷针距离玻片高度：
-              <input v-model="workForm.height " placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              毫米
-            </div>
-
-            <div class="mt-[20px]">
-              移速：
-              <input v-model="workForm.movementSpeed" placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              毫米/秒
-            </div>
-
-            <div>起始坐标：</div>
-            <div>
-              X:<input v-model="axis.x1" placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              Y:<input v-model="axis.y1" placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-            </div>
-            <div class="mt-[10px]">结束坐标：</div>
-            <div class="flex">
-              X:<input v-model="axis.x2" placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              Y:<input v-model="axis.y2" placeholder=''  type="number"  class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
-              
-            </div>
-            <div class="mt-[20px] text-center">
-              <el-button type="primary" class="ml-[10px] w-[100px]" @click="onStartWork">开始喷涂</el-button>
-              <el-button type="primary" class="ml-[10px] w-[100px]" @click="onStopWork">结束喷涂</el-button>
-              
-            </div>
-          </el-col>
-        </el-row>
-      </div>
-    </div>
-  </main>
+				</div>
+			</div>
+		</div>
+		<div v-if="activeName == 'app'">
+			<div class="bg-[#FBFBFB] h-[75vh] p-[10px]">
+				<el-row class="mt-[10px]">
+					<el-col :span="3" class="text-right"> 开始喷涂： </el-col>
+
+					<el-col :span="12" class="ml-[20px]">
+						<div>喷涂路线</div>
+						<div>
+							<el-radio-group v-model="workForm.routeType">
+								<el-radio :value="1">横向</el-radio>
+								<el-radio :value="2">纵向</el-radio>
+							</el-radio-group>
+						</div>
+						<div class="mt-[20px]">
+							选择玻片：
+							<el-radio-group v-model="axis.index">
+								<el-radio :value="0">玻片1</el-radio>
+								<el-radio :value="1">玻片2</el-radio>
+								<el-radio :value="2">玻片3</el-radio>
+								<el-radio :value="3">玻片4</el-radio>
+							</el-radio-group>
+						</div>
+						<div class="mt-[20px]">
+							行间距：
+							<input
+								v-model="workForm.space"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							毫米
+						</div>
+
+						<div class="mt-[20px]">
+							氮气流速：
+							<input
+								v-model="workForm.nitrogenFlowVelocity"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							毫米/秒
+						</div>
+
+						<div class="mt-[20px]">
+							氮气气压：
+							<input
+								v-model="workForm.matrixFlowVelocity"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							Mp
+						</div>
+
+						<div class="mt-[20px]">
+							电压：
+							<input
+								v-model="workForm.voltage"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							V
+						</div>
+
+						<div class="mt-[20px]">
+							喷针距离玻片高度：
+							<input
+								v-model="workForm.height"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							毫米
+						</div>
+
+						<div class="mt-[20px]">
+							移速：
+							<input
+								v-model="workForm.movementSpeed"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							毫米/秒
+						</div>
+
+						<div>起始坐标：</div>
+						<div>
+							X:<input
+								v-model="axis.x1"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							Y:<input
+								v-model="axis.y1"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+						</div>
+						<div class="mt-[10px]">结束坐标：</div>
+						<div class="flex">
+							X:<input
+								v-model="axis.x2"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+							Y:<input
+								v-model="axis.y2"
+								placeholder=""
+								type="number"
+								class="border-none outline-none h-[34px] bg-[#E8ECF7] text-primary font-medium rounded-md text-lg text-center w-[100px]" />
+						</div>
+						<div class="mt-[20px] text-center">
+							<el-button type="primary" class="ml-[10px] w-[100px]" @click="onStartWork">开始喷涂</el-button>
+							<el-button type="primary" class="ml-[10px] w-[100px]" @click="onStopWork">结束喷涂</el-button>
+						</div>
+					</el-col>
+				</el-row>
+			</div>
+		</div>
+	</main>
 </template>
 <script lang="ts" setup>
-  import { ref, onMounted, onUnmounted, watch } from 'vue'
-  import { createWebSocket, sharedWsUrl } from "@/services/socket";
-  import { ElMessage } from "element-plus";
-  import type { 
-    ControlNitrogen, 
-    MachineryType, 
-    SyringeType,
-    SyringeParams,
-    VoltageType,
-    ControlValueType
-} from '@/services/globalCmd/cmdTypes'
-import { 
-  moveMotorToPosition, 
-  switchThreeWayValve,
-  controlValve,
-  turnOnHighVoltage,
-  turnOffHighVoltage,
-  turnOnSyringePump,
-  turnOffSyringePump,
-  startWork,
-  stopWork,
-  rotate,
-  stopMotor,
-  turnOffLightPanel,
-  turnOnLightPanel,
-  stopWash,
-  stopDehumidify
+import { ref, onMounted, onUnmounted, watch } from "vue";
+import { createWebSocket, sharedWsUrl } from "@/services/socket";
+import { ElMessage } from "element-plus";
+import type {
+	ControlNitrogen,
+	MachineryType,
+	SyringeType,
+	SyringeParams,
+	VoltageType,
+	ControlValueType,
+} from "@/services/globalCmd/cmdTypes";
+import {
+	moveMotorToPosition,
+	switchThreeWayValve,
+	controlValve,
+	turnOnHighVoltage,
+	turnOffHighVoltage,
+	turnOnSyringePump,
+	turnOffSyringePump,
+	startWork,
+	stopWork,
+	rotate,
+	stopMotor,
+	turnOffLightPanel,
+	turnOnLightPanel,
+	stopWash,
+	stopDehumidify,
+	setMotorSpeed,
 } from "@/services/globalCmd/globalCmd";
-  const activeName = ref('debug')
-  const voltageValue = ref()
-  const syringeForm = ref<SyringeParams>({
-    rotationSpeed: 1,
-    time: 0,
-    direction:'1'
-  })
-  const workForm = ref<Record<string, any>>({
-    routeType: 1,
-  })
-  const axis = ref<any>({
-    index: 0
-  })
-
-
-  watch(voltageValue,(newVal)=>{
-    if(newVal > 5000){
-      voltageValue.value = 5000
-    }
-    if(newVal < 0){
-      voltageValue.value = 0
-    }
-  })
-
-  const rotateForm = ref<Record<string, string>>({})
-  let subscription:any
-  onMounted(()=>{
-    //连接websocket
-    const wsClient = createWebSocket(sharedWsUrl);
-     subscription = wsClient.dataOb.subscribe(data => {
-      //@ts-ignore
-      if(data.type == "moveMotorToPosition"){
-        //@ts-ignore
-        ElMessage.success(data.data.text)
-      }
-    });
-    wsClient.connect();
-  })
-
-  onUnmounted(() => {
-    subscription && subscription.unsubscribe();
-  });
-
-  const machineryForm = ref<Record<string, string>>({})
-  const onMoveMachinery = (axis:string) => {
-    if(!axis)return;
-    const params = {
-      commandName:'moveMotorToPosition',
-      params: <MachineryType>{
-        axis,
-        position:parseFloat(machineryForm.value[axis])
-      }
-    }
-    moveMotorToPosition(params).then((res:any) => {
-      console.log('-----moveMotorToPosition----res---', res)
-      success(res)
-    })
-  }
-
-  const onSwitchThreeWayValve = (type:string) => {
-    const params = <any>{
-      params:{type}
-    }
-    switchThreeWayValve(params).then((res:any) => {
-      console.log('---onSwitchThreeWayValve---res---', res)
-      success(res)
-    })
-  }
-
-  const onControlValve = (type:ControlNitrogen,open:boolean) => {
-    const params = <ControlValueType>{
-      params:{
-        valveType:type,
-        isOpen:open
-      }
-    }
-    controlValve(params).then((res:any) => {
-      console.log('---onControlValve---res---', res)
-      success(res)
-    })
-  }
-
-  const onStopDehumidify = () =>{
-    stopDehumidify().then((res:any)=>{
-      success(res)
-    })
+const activeName = ref("debug");
+const voltageValue = ref();
+const syringeForm = ref<SyringeParams>({
+	rotationSpeed: 1,
+	time: 0,
+	direction: "1",
+});
+const workForm = ref<Record<string, any>>({
+	routeType: 1,
+});
+const axis = ref<any>({
+	index: 0,
+});
+
+const rotateForm = ref<{ axis: "X" | "Y" | "Z"; speed: number }>({ axis: "X", speed: 20 });
+let subscription: any;
+
+watch(voltageValue,(newVal)=>{
+  if(newVal > 5000){
+    voltageValue.value = 5000
   }
-
-  const onStopWash = () => {
-    stopWash({}).then((res:any) => {
-      success(res)
-    })
-  }
-
-  //电压控制 开启
-  const onTurnOnHighVoltage = () => {
-    const params = <VoltageType>{
-      params:{voltage: +voltageValue.value}
-    }
-    turnOnHighVoltage(params).then((res:any) => {
-      console.log('---onTurnOnHighVoltage-  电压控制 on --res---', res)
-      success(res)
-    })
-  }
-
-  //电压控制 关闭
-  const onTurnOffHighVoltage = () => {
-    turnOffHighVoltage().then((res:any) => {
-      console.log('---onTurnOffHighVoltage- 电压控制 off--res---', res)
-      success(res)
-    })
-  }
-
-  //注射泵开启
-  const onTurnOnSyringePump = () => {
-    // SyringeType
-    const params = <SyringeType>{
-      params:{
-        rotationSpeed: syringeForm.value.rotationSpeed,
-        direction: syringeForm.value.direction,
-        time: syringeForm.value.time
-      }
-    }
-    turnOnSyringePump(params).then((res:any) => {
-      console.log('---onTurnOffHighVoltage- 电泵开启--res---', res)
-      success(res)
-    })
+  if(newVal < 0){
+    voltageValue.value = 0
   }
-
-  const onTurnOffSyringePump = () => {
-    turnOffSyringePump().then((res:any) => {
-      success(res)
-    })
-  }
-
-  const onStartWork = () => {
-    const params = <any>{
-      params:{
-        ...workForm.value,
-        position:<any>[
-          axis.value,
-        ]
-      }
-    }
-
-    startWork(params).then((res:any) => {
-      console.log('startWork-----', startWork)
-      success(res)
-    })
-  }
-
-  function onStopWork(){
-    stopWork().then((res:any) => {
-      console.log('startWork-----', startWork)
-      success(res)
-    })
-  }
-
-  const onRotate = () => {
-    const params = {
-      params : {
-        ...rotateForm.value
-      }
-    }
-    rotate(params).then((res:any) => {
-      success(res)
-    })
-  }
-
-  const onStopRotate = (axis:string) => {
-    const params = {
-      params:{
-        axis,
-      }
-    }
-    stopMotor(params).then((res:any) => {
-      console.log('res--停止电机-')
-      success(res)
-    })
-  }
-  type resData = {
-    code:number;
-    msg:string;
-  }
-  const onTurnOnLightPanel = () => {
-    const params = {
-      params:{
-        brightness: 40
-      }
-    }
-    turnOnLightPanel(params).then((res:any) => {
-      success(res)
-    })
-  }
-  
-  function onTurnOffLightPanel(){
-    const params = {
-      params:{
-        brightness: 40
-      }
-    }
-    turnOffLightPanel(params).then((res:any) => {
-      success(res)
-    })
-  }
-
-  
-  function success(data:resData){
-    if(data && data.msg == 'ok'){
-      ElMessage.success('发送成功')
-    }else{
-      ElMessage.error('发送失败')
-    }
-    
-  }
-  
+})
+
+
+onMounted(() => {
+	//连接websocket
+	const wsClient = createWebSocket(sharedWsUrl);
+	subscription = wsClient.dataOb.subscribe(data => {
+		//@ts-ignore
+		if (data.type == "moveMotorToPosition") {
+			//@ts-ignore
+			ElMessage.success(data.data.text);
+		}
+	});
+	wsClient.connect();
+});
+
+onUnmounted(() => {
+	subscription && subscription.unsubscribe();
+});
+
+const machineryForm = ref<Record<string, string>>({});
+const onMoveMachinery = (axis: string) => {
+	if (!axis) return;
+	const params = {
+		commandName: "moveMotorToPosition",
+		params: <MachineryType>{
+			axis,
+			position: parseFloat(machineryForm.value[axis]),
+		},
+	};
+	moveMotorToPosition(params).then((res: any) => {
+		console.log("-----moveMotorToPosition----res---", res);
+		success(res);
+	});
+};
+
+const onSwitchThreeWayValve = (type: string) => {
+	const params = <any>{
+		params: { type },
+	};
+	switchThreeWayValve(params).then((res: any) => {
+		console.log("---onSwitchThreeWayValve---res---", res);
+		success(res);
+	});
+};
+
+const onControlValve = (type: ControlNitrogen, open: boolean) => {
+	const params = <ControlValueType>{
+		params: {
+			valveType: type,
+			isOpen: open,
+		},
+	};
+	controlValve(params).then((res: any) => {
+		console.log("---onControlValve---res---", res);
+		success(res);
+	});
+};
+
+const onStopDehumidify = () => {
+	stopDehumidify().then((res: any) => {
+		success(res);
+	});
+};
+
+const onStopWash = () => {
+	stopWash({}).then((res: any) => {
+		success(res);
+	});
+};
+
+//电压控制 开启
+const onTurnOnHighVoltage = () => {
+	const params = <VoltageType>{
+		params: { voltage: +voltageValue.value },
+	};
+	turnOnHighVoltage(params).then((res: any) => {
+		console.log("---onTurnOnHighVoltage-  电压控制 on --res---", res);
+		success(res);
+	});
+};
+
+//电压控制 关闭
+const onTurnOffHighVoltage = () => {
+	turnOffHighVoltage().then((res: any) => {
+		console.log("---onTurnOffHighVoltage- 电压控制 off--res---", res);
+		success(res);
+	});
+};
+
+//注射泵开启
+const onTurnOnSyringePump = () => {
+	// SyringeType
+	const params = <SyringeType>{
+		params: {
+			rotationSpeed: syringeForm.value.rotationSpeed,
+			direction: syringeForm.value.direction,
+			time: syringeForm.value.time,
+		},
+	};
+	turnOnSyringePump(params).then((res: any) => {
+		console.log("---onTurnOffHighVoltage- 电泵开启--res---", res);
+		success(res);
+	});
+};
+
+const onTurnOffSyringePump = () => {
+	turnOffSyringePump().then((res: any) => {
+		success(res);
+	});
+};
+
+const onStartWork = () => {
+	const params = <any>{
+		params: {
+			...workForm.value,
+			position: <any>[axis.value],
+		},
+	};
+
+	startWork(params).then((res: any) => {
+		console.log("startWork-----", startWork);
+		success(res);
+	});
+};
+
+function onStopWork() {
+	stopWork().then((res: any) => {
+		console.log("startWork-----", startWork);
+		success(res);
+	});
+}
+
+const onRotate = () => {
+	const params = {
+		...rotateForm.value,
+	};
+
+	setMotorSpeed(params).then((res: any) => {
+		success(res);
+	});
+};
+
+const onStopRotate = (axis: string) => {
+	const params = {
+		params: {
+			axis,
+		},
+	};
+	stopMotor(params).then((res: any) => {
+		console.log("res--停止电机-");
+		success(res);
+	});
+};
+type resData = {
+	code: number;
+	msg: string;
+};
+const onTurnOnLightPanel = () => {
+	const params = {
+		params: {
+			brightness: 40,
+		},
+	};
+	turnOnLightPanel(params).then((res: any) => {
+		success(res);
+	});
+};
+
+function onTurnOffLightPanel() {
+	const params = {
+		params: {
+			brightness: 40,
+		},
+	};
+	turnOffLightPanel(params).then((res: any) => {
+		success(res);
+	});
+}
+
+function success(data: resData) {
+	if (data && data.msg == "ok") {
+		ElMessage.success("发送成功");
+	} else {
+		ElMessage.error("发送失败");
+	}
+}
 </script>
 <style lang="scss" scoped>
-  div{
-    color: #0349A8;
-  }
-  .el-button--primary{
-    background: linear-gradient(90deg, #0657c0 24%, #096ae0 101%);;
-  }
-  .debug_axis{
-    height: 3rem;
-    background: #FBFBFB;
-    margin-left: 3.5rem;
-    margin-right: 3.5rem;
-    border-radius: 6px;
-    display: flex;
-    align-items: center;
-    
-
-    .axis{
-      display: flex;
-      align-items: center;
-      color: #0349A8;
-    }
-  }
-
-  .debug_main{
-    display: flex;
-    align-items: center;
-    margin-left: 4rem;
-    margin-top:2rem;
-    .debug_left{
-      width: 42vw;
-      height: 18.75rem;
-      background: #FBFBFB;
-      height: 70vh;
-      padding:2rem;
-    }
-    .debug_right{
-        width: 42vw;
-        height: 70vh;
-        background: #FBFBFB;
-        margin-left:2rem;
-        padding:2rem;
-    }
-  }
-  
+div {
+	color: #0349a8;
+}
+.el-button--primary {
+	background: linear-gradient(90deg, #0657c0 24%, #096ae0 101%);
+}
+.debug_axis {
+	height: 3rem;
+	background: #fbfbfb;
+	margin-left: 3.5rem;
+	margin-right: 3.5rem;
+	border-radius: 6px;
+	display: flex;
+	align-items: center;
+
+	.axis {
+		display: flex;
+		align-items: center;
+		color: #0349a8;
+	}
+}
+
+.debug_main {
+	display: flex;
+	align-items: center;
+	margin-left: 4rem;
+	margin-top: 2rem;
+	.debug_left {
+		width: 42vw;
+		height: 18.75rem;
+		background: #fbfbfb;
+		height: 70vh;
+		padding: 2rem;
+	}
+	.debug_right {
+		width: 42vw;
+		height: 70vh;
+		background: #fbfbfb;
+		margin-left: 2rem;
+		padding: 2rem;
+	}
+}
 </style>