同步代码

src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java

@@ -6,6 +6,8 @@ import com.iflytop.gd.app.service.DeviceCommandUtilService;
 import com.iflytop.gd.app.service.SelfTestService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.cmd.CmdAxis;
+import com.iflytop.gd.hardware.type.LiquidDistributionArmDriver;
+import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
@@ -20,23 +22,13 @@ import java.util.concurrent.CompletableFuture;
 @RequiredArgsConstructor
 @CommandMapping("dual_robot_joint_origin")//业务指令注解
 public class DualRobotJointOriginCommand extends BaseCommandHandler {
-    private final DeviceCommandUtilService deviceCommandUtilService;
-    private final SelfTestService selfTestService;
+    private final LiquidDistributionArmDriver liquidDistributionArmDriver;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
-        Boolean joint1 = cmdDTO.getBooleanParam("joint1");
-        Boolean joint2 = cmdDTO.getBooleanParam("joint1");
         return runAsync(() -> {
-
-            if (joint1) {
-                deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint1);
-                selfTestService.getSelfTestState().setDualRobotJoint1Origin(true);
-            }
-            if (joint2) {
-                deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint2);
-                selfTestService.getSelfTestState().setDualRobotJoint2Origin(true);
-            }
+            liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
+            liquidDistributionArmDriver.liquidDistributionArmMoveTo(LiquidArmMId.LiquidDistributionArm, 0);
         });
     }
 }

src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java

@@ -28,16 +28,16 @@ public class GantryXOriginCommand extends BaseCommandHandler {
             Boolean x = cmdDTO.getBooleanParam("x");
             Boolean y = cmdDTO.getBooleanParam("y");
             Boolean z = cmdDTO.getBooleanParam("z");
-            if (x) {
+            if (x != null && x) {
                 deviceCommandUtilService.gantryXMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
                 selfTestService.getSelfTestState().setGantryXOrigin(true);
             }
-            if (y) {
+            if (y != null && y) {
                 deviceCommandUtilService.gantryYMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
                 selfTestService.getSelfTestState().setGantryYOrigin(true);
             }
 
-            if (z) {
+            if (z != null && z) {
                 deviceCommandUtilService.gantryZMoveOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
                 selfTestService.getSelfTestState().setGantryZOrigin(true);
             }

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

@@ -2,17 +2,13 @@ package com.iflytop.gd.app.cmd.debug;
 
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
-import com.iflytop.gd.app.service.DeviceCommandService;
 import com.iflytop.gd.common.annotation.CommandMapping;
-import com.iflytop.gd.common.cmd.CommandFuture;
-import com.iflytop.gd.common.cmd.DeviceCommandBundle;
-import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
+import com.iflytop.gd.hardware.type.LiquidDistributionArmDriver;
+import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
 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;
 
 /**
@@ -23,24 +19,13 @@ import java.util.concurrent.CompletableFuture;
 @RequiredArgsConstructor
 @CommandMapping("debug_liquid_arm_reset")
 public class LiquidArmResetCommandHandler extends BaseCommandHandler {
-    private final DeviceCommandService deviceCommandService;
+    private final LiquidDistributionArmDriver liquidDistributionArmDriver;
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            List<String> target = (List<String>) cmdDTO.getParams().get("target");
-            List<CommandFuture> futuresList = new ArrayList<>();
-            if (target != null && target.contains("largeArm")) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint1Origin();
-                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                futuresList.add(deviceCommandFuture);
-            }
-            if (target != null && target.contains("smallArm")) {
-                DeviceCommandBundle deviceCommand = DeviceCommandGenerator.dualRobotJoint2Origin();
-                CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);
-                futuresList.add(deviceCommandFuture);
-            }
-            commandWait(futuresList.toArray(new CommandFuture[0]));
+            liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
+            liquidDistributionArmDriver.liquidDistributionArmMoveToBlock(LiquidArmMId.LiquidDistributionArm, 0);
         });
     }
 }

src/main/java/com/iflytop/gd/hardware/type/LiquidDistributionArmDriver.java

@@ -40,6 +40,11 @@ public class LiquidDistributionArmDriver {
         canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_move_to, index);
     }
 
+    public void liquidDistributionArmMoveToBlock(LiquidArmMId id, int index) throws HardwareException {
+        liquidDistributionArmMoveTo(id,index);
+        canBus.waitForMod(id.mid,3000);
+    }
+
 
     public int liquidDistributionReadPos(LiquidArmMId id) throws HardwareException {
         log.info("liquidDistributionReadPos called with id: {}", id);

src/main/resources/init/zapp_sub_module_reg_initial_value.csv

@@ -144,14 +144,14 @@ id,mid,regIndex,regInitVal
 144,CapStorageM,kreg_step_motor_shaft,1
 145,CapStorageM,kreg_step_motor_one_circle_pulse,500
 146,CapStorageM,kreg_step_motor_one_circle_pulse_denominator,1
-147,CapStorageM,kreg_step_motor_default_velocity,200
+147,CapStorageM,kreg_step_motor_default_velocity,250
 148,CapStorageM,kreg_step_motor_low_velocity,0
 149,CapStorageM,kreg_step_motor_mid_velocity,0
 150,CapStorageM,kreg_step_motor_high_velocity,0
 151,CapStorageM,kreg_step_motor_ihold,5
 152,CapStorageM,kreg_step_motor_irun,31
 153,CapStorageM,kreg_step_motor_iholddelay,10
-154,CapStorageM,kreg_step_motor_iglobalscaler,128
+154,CapStorageM,kreg_step_motor_iglobalscaler,80
 155,CapStorageM,kreg_step_motor_mres,0
 156,CapStorageM,kreg_step_motor_run_to_zero_speed,100
 157,CapStorageM,kreg_step_motor_look_zero_edge_speed,100