add: 调整日志等级，增加指令等待时间，增加错误打印

src/main/java/com/iflytop/gd/hardware/HardwareService.java

@@ -11,6 +11,7 @@ import com.iflytop.gd.common.enums.cmd.CmdDevice;
 import com.iflytop.gd.hardware.command.CommandHandler;
 import com.iflytop.gd.hardware.command.DeviceResponse;
 import com.iflytop.gd.hardware.command.checker.SupportMethod;
+import com.iflytop.gd.hardware.exception.HardwareException;
 import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -47,7 +48,6 @@ public class HardwareService {
         for (CmdDevice device : devices) {
             cmdHandlers.put(device, handler);
         }
-
     }
 
     public boolean sendCommand(DeviceCommand cmd) {
@@ -71,12 +71,18 @@ public class HardwareService {
                 cmdHandlers.get(cmd.getDevice()).sendCommand(cmd);
                 response.setSuccess(Boolean.TRUE);
             } else {
+                log.error("不支持的设备类型: {}", cmd.getDevice());
                 throw new InvalidParameterException(StrUtil.format("[Device]: {}", cmd.getDevice()));
             }
 
+        } catch (HardwareException e) {
+            log.error("HardwareException 指令执行失败: {}", e.getMessage(), e);
+            response.setSuccess(Boolean.FALSE);
         } catch (Exception e) {
+            log.error("指令执行失败: {}", e.getMessage(), e);
             response.setSuccess(Boolean.FALSE);
-        } finally {
+        }
+        finally {
             JSONObject jsonResponse = JSONUtil.parseObj(response);
             eventPublisher.publishEvent(new CommandFeedbackEvent(this, jsonResponse));
         }

src/main/java/com/iflytop/gd/hardware/constants/ActionOvertimeConstant.java

@@ -12,7 +12,7 @@ import java.util.List;
 
 @Component
 public class ActionOvertimeConstant {
-	final Integer defaultOvertime = 10 * 1000;
+	final Integer defaultOvertime = 60 * 1000;
 
 	static class OvertimeConfigItem {
 		public MId mid;

src/main/java/com/iflytop/gd/hardware/drivers/StepMotorDriver/DoorDriver.java

@@ -35,7 +35,7 @@ public class DoorDriver{
     // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
     public void moveToHome(StepMotorMId stepMotorMId) throws Exception
     {
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZero(stepMotorMId);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
     }
 
     public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception
@@ -46,7 +46,7 @@ public class DoorDriver{
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(position);
-        stepMotorCtrlDriver_.stepMotorEasyMoveTo(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
     }
 
     public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception
@@ -57,7 +57,7 @@ public class DoorDriver{
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(distance);
-        stepMotorCtrlDriver_.stepMotorEasyMoveBy(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
     }
 
     public void stop(StepMotorMId stepMotorMId) throws Exception {

src/main/resources/logback.xml

@@ -46,7 +46,7 @@
     </appender>
 
     <!-- 包级别日志 -->
-    <logger name="com.iflytop"  level="INFO"/>
+    <logger name="com.iflytop"  level="DEBUG"/>
     <logger name="org.springframework" level="WARN"/>
 
     <root level="INFO">