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graphite-digester-service
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fix:调试指令增加速度配置

master
白凤吉 3 months ago
parent
46a345d516
commit
57ff311cae
10 changed files with 177 additions and 94 deletions
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  1. 9
      src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java
  2. 9
      src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java
  3. 6
      src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java
  4. 34
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java
  5. 18
      src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java
  6. 16
      src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java
  7. 16
      src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java
  8. 7
      src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java
  9. 40
      src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java
  10. 76
      src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java

9
src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftDownCommandHandler.java
View File

@ -26,8 +26,15 @@ public class CoverElevatorLiftDownCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Double distance = cmdDTO.getDoubleParam("distance");
Double velocity = cmdDTO.getDoubleParam("velocity");
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(velocity);
if(velocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorSet(velocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(distance);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
});

9
src/main/java/com/iflytop/gd/app/cmd/debug/CoverElevatorLiftUpCommandHandler.java
View File

@ -27,8 +27,15 @@ public class CoverElevatorLiftUpCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Double distance = cmdDTO.getDoubleParam("distance");
Double velocity = cmdDTO.getDoubleParam("velocity");
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(velocity);
if(velocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorSet(velocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMoveBy(distance);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
});

6
src/main/java/com/iflytop/gd/app/cmd/debug/HoldingJawOpenCommandHandler.java
View File

@ -26,6 +26,12 @@ public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Double velocity = cmdDTO.getDoubleParam("velocity");
if(velocity != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawSet(velocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawMove(100.0);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);

34
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidArmRotateCommandHandler.java
View File

@ -11,6 +11,8 @@ import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
import java.util.ArrayList;
import java.util.List;
import java.util.concurrent.CompletableFuture;
/**
@ -28,12 +30,32 @@ public class LiquidArmRotateCommandHandler extends BaseCommandHandler {
return runAsync(() -> {
Double largeArmAngle = cmdDTO.getDoubleParam("largeArmAngle");
Double smallArmAngle = cmdDTO.getDoubleParam("smallArmAngle");
DeviceCommandBundle deviceCommandJoint1 = DeviceCommandGenerator.dualRobotJoint1Move(largeArmAngle);
CommandFuture deviceCommandJoint1Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint1);
commandWait(deviceCommandJoint1Future);
DeviceCommandBundle deviceCommandJoint2 = DeviceCommandGenerator.dualRobotJoint2Move(smallArmAngle);
CommandFuture deviceCommandJoint2Future = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommandJoint2);
commandWait(deviceCommandJoint1Future, deviceCommandJoint2Future);
Double largeArmRotationVelocity = cmdDTO.getDoubleParam("largeArmRotationVelocity");
Double smallArmRotationVelocity = cmdDTO.getDoubleParam("smallArmRotationVelocity");
if (largeArmRotationVelocity != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Set(largeArmRotationVelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
if (smallArmRotationVelocity != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Set(smallArmRotationVelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
List<CommandFuture> futuresList = new ArrayList<>();
if (largeArmAngle != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Move(largeArmAngle);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
if (largeArmAngle != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Move(smallArmAngle);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
commandWait(futuresList.toArray(new CommandFuture[0]));
});
}
}

18
src/main/java/com/iflytop/gd/app/cmd/debug/LiquidPumpStartCommandHandler.java
View File

@ -30,8 +30,26 @@ public class LiquidPumpStartCommandHandler extends BaseCommandHandler {
Integer index = cmdDTO.getIntegerParam("index");
String direction = cmdDTO.getStringParam("direction");
Double volume = cmdDTO.getDoubleParam("volume");
Double velocity = cmdDTO.getDoubleParam("velocity");
CmdDirection directionEnum = CmdDirection.valueOf(direction);
DeviceCommandBundle deviceCommand;
if(velocity != null) {
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Set(velocity);
case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Set(velocity);
case 3 -> deviceCommand = DeviceCommandGenerator.acidPump3Set(velocity);
case 4 -> deviceCommand = DeviceCommandGenerator.acidPump4Set(velocity);
case 5 -> deviceCommand = DeviceCommandGenerator.acidPump5Set(velocity);
case 6 -> deviceCommand = DeviceCommandGenerator.acidPump6Set(velocity);
case 7 -> deviceCommand = DeviceCommandGenerator.acidPump7Set(velocity);
case 8 -> deviceCommand = DeviceCommandGenerator.acidPump8Set(velocity);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.acidPump1Move(directionEnum, volume);
case 2 -> deviceCommand = DeviceCommandGenerator.acidPump2Move(directionEnum, volume);

16
src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftDownCommandHandler.java
View File

@ -29,7 +29,23 @@ public class PalletElevatorLiftDownCommandHandler extends BaseCommandHandler {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
Double distance = cmdDTO.getDoubleParam("distance");
Double velocity = cmdDTO.getDoubleParam("velocity");
DeviceCommandBundle deviceCommand;
if(velocity != null) {
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);

16
src/main/java/com/iflytop/gd/app/cmd/debug/PalletElevatorLiftUpCommandHandler.java
View File

@ -28,7 +28,23 @@ public class PalletElevatorLiftUpCommandHandler extends BaseCommandHandler {
return runAsync(() -> {
Integer index = cmdDTO.getIntegerParam("index");
Double distance = cmdDTO.getDoubleParam("distance");
Double velocity = cmdDTO.getDoubleParam("velocity");
DeviceCommandBundle deviceCommand;
if(velocity != null) {
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1Set(distance);
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2Set(distance);
case 3 -> deviceCommand = DeviceCommandGenerator.heaterMotor3Set(distance);
case 4 -> deviceCommand = DeviceCommandGenerator.heaterMotor4Set(distance);
case 5 -> deviceCommand = DeviceCommandGenerator.heaterMotor5Set(distance);
case 6 -> deviceCommand = DeviceCommandGenerator.heaterMotor6Set(distance);
default -> throw new RuntimeException("index 未找到");
}
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
switch (index) {
case 1 -> deviceCommand = DeviceCommandGenerator.heaterMotor1MoveBy(distance);
case 2 -> deviceCommand = DeviceCommandGenerator.heaterMotor2MoveBy(distance);

7
src/main/java/com/iflytop/gd/app/cmd/debug/ShakerStartCommandHandler.java
View File

@ -26,6 +26,13 @@ public class ShakerStartCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Double velocity = cmdDTO.getDoubleParam("velocity");
if(velocity != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.shakeMotorSet(velocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);
}
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.shakeMotorStart();
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
commandWait(deviceCommandFuture);

40
src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java
View File

@ -28,22 +28,44 @@ public class TransportationArmMoveCommandHandler extends BaseCommandHandler {
@Override
public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
return runAsync(() -> {
Double x = cmdDTO.getDoubleParam("xDimDistance");
Double y = cmdDTO.getDoubleParam("yDimDistance");
Double z = cmdDTO.getDoubleParam("zDimDistance");
Double xDimDistance = cmdDTO.getDoubleParam("xDimDistance");
Double yDimDistance = cmdDTO.getDoubleParam("yDimDistance");
Double zDimDistance = cmdDTO.getDoubleParam("zDimDistance");
Double xDimvelocity = cmdDTO.getDoubleParam("xDimvelocity");
Double yDimvelocity = cmdDTO.getDoubleParam("yDimvelocity");
Double zDimvelocity = cmdDTO.getDoubleParam("zDimvelocity");
List<CommandFuture> futuresList = new ArrayList<>();
if (x != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(x);
if(xDimvelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXSet(xDimvelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
if(yDimvelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYSet(yDimvelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
if(zDimvelocity != null){
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZSet(zDimvelocity);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
commandWait(futuresList.toArray(new CommandFuture[0]));
futuresList.clear();
if (xDimDistance != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(xDimDistance);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
if (y != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(y);
if (yDimDistance != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(yDimDistance);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}
if (z != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(z);
if (zDimDistance != null) {
DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(zDimDistance);
CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
futuresList.add(deviceCommandFuture);
}

76
src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java
View File

@ -72,12 +72,10 @@ public class DeviceCommandGenerator {
/**
* 摇匀电机 设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 r/s
*/
public static DeviceCommandBundle shakeMotorSet(Integer current, Double speed) {
public static DeviceCommandBundle shakeMotorSet(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.shake_motor, CmdAction.set, params, "摇匀 设置参数");
}
@ -121,12 +119,10 @@ public class DeviceCommandGenerator {
/**
* 拍子升降电机 设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle trayMotorSet(Integer current, Double speed) {
public static DeviceCommandBundle trayMotorSet(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.tray_motor, CmdAction.set, params, "拍子升降电机 设置参数");
}
@ -234,12 +230,10 @@ public class DeviceCommandGenerator {
/**
* 龙门架 x轴设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle gantryXSet(Integer current, Double speed) {
public static DeviceCommandBundle gantryXSet(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.gantry_x, CmdAction.set, params, "龙门架 x轴设置参数");
}
@ -247,12 +241,10 @@ public class DeviceCommandGenerator {
/**
* 龙门架 y轴设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle gantryYSet(Integer current, Double speed) {
public static DeviceCommandBundle gantryYSet(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.gantry_y, CmdAction.set, params, "龙门架 y轴设置参数");
}
@ -260,12 +252,10 @@ public class DeviceCommandGenerator {
/**
* 龙门架 z轴设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle gantryZSet(Integer current, Double speed) {
public static DeviceCommandBundle gantryZSet(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.gantry_z, CmdAction.set, params, "龙门架 z轴设置参数");
}
@ -383,12 +373,10 @@ public class DeviceCommandGenerator {
/**
* 加热区顶升电机 加热位1设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle heaterMotor1Set(Integer current, Double speed) {
public static DeviceCommandBundle heaterMotor1Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.heater_motor_1, CmdAction.set, params, "加热区顶升电机 加热位1设置参数");
}
@ -396,12 +384,10 @@ public class DeviceCommandGenerator {
/**
* 加热区顶升电机 加热位2设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle heaterMotor2Set(Integer current, Double speed) {
public static DeviceCommandBundle heaterMotor2Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.heater_motor_2, CmdAction.set, params, "加热区顶升电机 加热位2设置参数");
}
@ -409,12 +395,10 @@ public class DeviceCommandGenerator {
/**
* 加热区顶升电机 加热位3设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle heaterMotor3Set(Integer current, Double speed) {
public static DeviceCommandBundle heaterMotor3Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.heater_motor_3, CmdAction.set, params, "加热区顶升电机 加热位3设置参数");
}
@ -422,12 +406,10 @@ public class DeviceCommandGenerator {
/**
* 加热区顶升电机 加热位4设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle heaterMotor4Set(Integer current, Double speed) {
public static DeviceCommandBundle heaterMotor4Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.heater_motor_4, CmdAction.set, params, "加热区顶升电机 加热位4设置参数");
}
@ -435,12 +417,10 @@ public class DeviceCommandGenerator {
/**
* 加热区顶升电机 加热位5设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle heaterMotor5Set(Integer current, Double speed) {
public static DeviceCommandBundle heaterMotor5Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.heater_motor_5, CmdAction.set, params, "加热区顶升电机 加热位5设置参数");
}
@ -448,12 +428,10 @@ public class DeviceCommandGenerator {
/**
* 加热区顶升电机 加热位6设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle heaterMotor6Set(Integer current, Double speed) {
public static DeviceCommandBundle heaterMotor6Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.heater_motor_6, CmdAction.set, params, "加热区顶升电机 加热位6设置参数");
}
@ -679,12 +657,10 @@ public class DeviceCommandGenerator {
/**
* 加液泵 泵1设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle acidPump1Set(Integer current, Double speed) {
public static DeviceCommandBundle acidPump1Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump_1, CmdAction.set, params, "加液泵1 设置参数");
}
@ -692,12 +668,10 @@ public class DeviceCommandGenerator {
/**
* 加液泵 泵2设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle acidPump2Set(Integer current, Double speed) {
public static DeviceCommandBundle acidPump2Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump_2, CmdAction.set, params, "加液泵2 设置参数");
}
@ -705,12 +679,10 @@ public class DeviceCommandGenerator {
/**
* 加液泵 泵3设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle acidPump3Set(Integer current, Double speed) {
public static DeviceCommandBundle acidPump3Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump_3, CmdAction.set, params, "加液泵3 设置参数");
}
@ -718,12 +690,10 @@ public class DeviceCommandGenerator {
/**
* 加液泵 泵4设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle acidPump4Set(Integer current, Double speed) {
public static DeviceCommandBundle acidPump4Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump_4, CmdAction.set, params, "加液泵4 设置参数");
}
@ -731,12 +701,10 @@ public class DeviceCommandGenerator {
/**
* 加液泵 泵5设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle acidPump5Set(Integer current, Double speed) {
public static DeviceCommandBundle acidPump5Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump_5, CmdAction.set, params, "加液泵5 设置参数");
}
@ -744,12 +712,10 @@ public class DeviceCommandGenerator {
/**
* 加液泵 泵6设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle acidPump6Set(Integer current, Double speed) {
public static DeviceCommandBundle acidPump6Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump_6, CmdAction.set, params, "加液泵6 设置参数");
}
@ -757,12 +723,10 @@ public class DeviceCommandGenerator {
/**
* 加液泵 泵7设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle acidPump7Set(Integer current, Double speed) {
public static DeviceCommandBundle acidPump7Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump_7, CmdAction.set, params, "加液泵7 设置参数");
}
@ -770,12 +734,10 @@ public class DeviceCommandGenerator {
/**
* 加液泵 泵8设置参数
*
* @param current 电流 [0-31]
* @param speed 速度 单位 mm/s
*/
public static DeviceCommandBundle acidPump8Set(Integer current, Double speed) {
public static DeviceCommandBundle acidPump8Set(Double speed) {
DeviceCommandParams params = new DeviceCommandParams();
params.setCurrent(current);
params.setSpeed(speed);
return setInfoCmd(CmdDevice.acid_pump_8, CmdAction.set, params, "加液泵8 设置参数");
}

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