fix:移动都改为相对移动

src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java

@@ -27,7 +27,7 @@ public class CoverElevatorLiftDownCommandHandler extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             Double velocity = cmdDTO.getDoubleParam("velocity");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMove(velocity);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(velocity);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
         });

src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java

@@ -28,7 +28,7 @@ public class CoverElevatorLiftUpCommandHandler extends BaseCommandHandler {
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
             Double velocity = cmdDTO.getDoubleParam("velocity");
-            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMove(velocity);
+            DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(velocity);
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
             commandWait(deviceCommandFuture);
         });

src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java

@@ -31,7 +31,7 @@ public class LiquidArmRotateCommandHandler extends BaseCommandHandler {
             DeviceCommandBundle deviceCommandJoint1 = DeviceCommandGenerator.dualRobotJoint1Move(largeArmAngle);
             CommandFuture deviceCommandJoint1Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint1);
             commandWait(deviceCommandJoint1Future);
-            DeviceCommandBundle deviceCommandJoint2 = DeviceCommandGenerator.dualRobotJoint1Move(smallArmAngle);
+            DeviceCommandBundle deviceCommandJoint2 = DeviceCommandGenerator.dualRobotJoint2Move(smallArmAngle);
             CommandFuture deviceCommandJoint2Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint2);
             commandWait(deviceCommandJoint1Future, deviceCommandJoint2Future);
         });

src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java

@@ -31,12 +31,12 @@ public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
             Double distance = cmdDTO.getDoubleParam("distance");
             DeviceCommandBundle deviceCommand;
             switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Move(distance);
-                case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Move(distance);
-                case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Move(distance);
-                case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Move(distance);
-                case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Move(distance);
-                case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Move(distance);
+                case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
+                case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
+                case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
+                case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
+                case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
+                case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java

@@ -30,12 +30,12 @@ public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
             Double distance = cmdDTO.getDoubleParam("distance");
             DeviceCommandBundle deviceCommand;
             switch (index) {
-                case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Move(distance);
-                case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Move(distance);
-                case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Move(distance);
-                case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Move(distance);
-                case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Move(distance);
-                case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Move(distance);
+                case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
+                case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);
+                case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3MoveBy(distance);
+                case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4MoveBy(distance);
+                case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5MoveBy(distance);
+                case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6MoveBy(distance);
                 default -> throw new RuntimeException("index 未找到");
             }
             CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java

@@ -20,6 +20,17 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 门 相对移动
+     *
+     * @param position 位置 单位mm
+     */
+    public static DeviceCommandBundle doorMoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.door_motor, CmdAction.move_by, params, "门 相对移动");
+    }
+
+    /**
      * 门 停止动作
      */
     public static DeviceCommandBundle doorStop() {
@@ -36,12 +47,10 @@ public class DeviceCommandGenerator {
     /**
      * 门 设置参数
      *
-     * @param current 电流 [0-31]
      * @param speed   速度 单位 mm/s
      */
-    public static DeviceCommandBundle doorSet(Integer current, Double speed) {
+    public static DeviceCommandBundle doorSet(Double speed) {
         DeviceCommandParams params = new DeviceCommandParams();
-        params.setCurrent(current);
         params.setSpeed(speed);
         return setInfoCmd(CmdDevice.door_motor, CmdAction.set, null, "门 设置参数");
     }
@@ -85,6 +94,17 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 拍子升降电机 相对移动
+     *
+     * @param position 位置 单位mm
+     */
+    public static DeviceCommandBundle trayMotorMoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.tray_motor, CmdAction.move_by, params, "拍子升降电机 相对移动");
+    }
+
+    /**
      * 拍子升降电机 停止移动
      */
     public static DeviceCommandBundle trayMotorStop() {
@@ -313,7 +333,7 @@ public class DeviceCommandGenerator {
     public static DeviceCommandBundle gantryXMoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlMotorCmd(CmdDevice.gantry_x, CmdAction.move_by, params, "龙门架 x轴移动");
+        return controlMotorCmd(CmdDevice.gantry_x, CmdAction.move_by, params, "龙门架 x轴相对移动");
     }
 
     /**
@@ -324,7 +344,7 @@ public class DeviceCommandGenerator {
     public static DeviceCommandBundle gantryYMoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlMotorCmd(CmdDevice.gantry_y, CmdAction.move_by, params, "龙门架 y轴移动");
+        return controlMotorCmd(CmdDevice.gantry_y, CmdAction.move_by, params, "龙门架 y轴相对移动");
     }
 
     /**
@@ -335,7 +355,7 @@ public class DeviceCommandGenerator {
     public static DeviceCommandBundle gantryZMoveBy(Double position) {
         DeviceCommandParams params = new DeviceCommandParams();
         params.setPosition(position);
-        return controlMotorCmd(CmdDevice.gantry_z, CmdAction.move_by, params, "龙门架 z轴移动");
+        return controlMotorCmd(CmdDevice.gantry_z, CmdAction.move_by, params, "龙门架 z轴相对移动");
     }
 
     /**
@@ -546,6 +566,72 @@ public class DeviceCommandGenerator {
         return controlMotorCmd(CmdDevice.heater_motor_6, CmdAction.move, params, "加热区顶升电机 加热位6移动");
     }
 
+    /**
+     * 加热区顶升电机 加热位1相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle heaterMotor1MoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.heater_motor_1, CmdAction.move_by, params, "加热区顶升电机 加热位1相对移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位2相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle heaterMotor2MoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.heater_motor_2, CmdAction.move_by, params, "加热区顶升电机 加热位2相对移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位3相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle heaterMotor3MoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.heater_motor_3, CmdAction.move_by, params, "加热区顶升电机 加热位3相对移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位4相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle heaterMotor4MoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.heater_motor_4, CmdAction.move_by, params, "加热区顶升电机 加热位4相对移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位5相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle heaterMotor5MoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.heater_motor_5, CmdAction.move_by, params, "加热区顶升电机 加热位5相对移动");
+    }
+
+    /**
+     * 加热区顶升电机 加热位6相对移动
+     *
+     * @param position 位置 单位 mm
+     */
+    public static DeviceCommandBundle heaterMotor6MoveBy(Double position) {
+        DeviceCommandParams params = new DeviceCommandParams();
+        params.setPosition(position);
+        return controlMotorCmd(CmdDevice.heater_motor_6, CmdAction.move_by, params, "加热区顶升电机 加热位6相对移动");
+    }
+
 
     /**
      * 加热区顶升电机 加热位1停止