add: 电机指令增加block

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

@@ -35,7 +35,7 @@ public class AcidPumpDriver {
     // ==== ==== ==== ==== ==== ==== 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 AcidPumpDriver {
         }
 
         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 AcidPumpDriver {
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(distance);
-        stepMotorCtrlDriver_.stepMotorEasyMoveBy(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
     }
 
     public void stop(StepMotorMId stepMotorMId) throws Exception {

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

@@ -38,7 +38,7 @@ public class HBotDriver {
     // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
     public void moveToHome(StepMotorMId stepMotorMId) throws Exception
     {
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZero(stepMotorMId);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
     }
 
     public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception
@@ -49,7 +49,7 @@ public class HBotDriver {
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(position);
-        stepMotorCtrlDriver_.stepMotorEasyMoveTo(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
     }
 
     public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception
@@ -60,7 +60,7 @@ public class HBotDriver {
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(distance);
-        stepMotorCtrlDriver_.stepMotorEasyMoveBy(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
     }
 
     public void stop(StepMotorMId stepMotorMId) throws Exception {

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

@@ -35,7 +35,7 @@ public class HeaterMotorDriver {
     // ==== ==== ==== ==== ==== ==== 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 HeaterMotorDriver {
         }
 
         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 HeaterMotorDriver {
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(distance);
-        stepMotorCtrlDriver_.stepMotorEasyMoveBy(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
     }
 
     public void stop(StepMotorMId stepMotorMId) throws Exception {

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

@@ -36,7 +36,7 @@ public class ShakeMotorDriver {
     // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
     public void moveToHome(StepMotorMId stepMotorMId) throws Exception
     {
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZero(stepMotorMId);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
     }
 
     public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception
@@ -47,7 +47,7 @@ public class ShakeMotorDriver {
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(position);
-        stepMotorCtrlDriver_.stepMotorEasyMoveTo(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
     }
 
     public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception
@@ -58,7 +58,7 @@ public class ShakeMotorDriver {
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(distance);
-        stepMotorCtrlDriver_.stepMotorEasyMoveBy(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
     }
 
     public void stop(StepMotorMId stepMotorMId) throws Exception {

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

@@ -38,7 +38,7 @@ public class TrayMotorDriver {
     // ==== ==== ==== ==== ==== ==== Ctrl ==== ==== ==== ==== ==== ====
     public void moveToHome(StepMotorMId stepMotorMId) throws Exception
     {
-        stepMotorCtrlDriver_.stepMotorEasyMoveToZero(stepMotorMId);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToZeroBlock(stepMotorMId);
     }
 
     public void moveTo(StepMotorMId stepMotorMId, double position) throws Exception
@@ -49,7 +49,7 @@ public class TrayMotorDriver {
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(position);
-        stepMotorCtrlDriver_.stepMotorEasyMoveTo(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveToBlock(stepMotorMId, motorPosition);
     }
 
     public void moveBy(StepMotorMId stepMotorMId, double distance) throws Exception
@@ -60,7 +60,7 @@ public class TrayMotorDriver {
         }
 
         int motorPosition = StepMotorHelper.toMotorPosition(distance);
-        stepMotorCtrlDriver_.stepMotorEasyMoveBy(stepMotorMId, motorPosition);
+        stepMotorCtrlDriver_.stepMotorEasyMoveByBlock(stepMotorMId, motorPosition);
     }
 
     public void stop(StepMotorMId stepMotorMId) throws Exception {