From 7f8aae5b3b451ada30a77eb0667d5c32e61b90d9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Wed, 7 May 2025 11:16:06 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E9=BE=99=E9=97=A8=E6=9E=B6=E6=9C=BA?= =?UTF-8?q?=E6=A2=B0=E8=87=82=E8=B0=83=E8=AF=95=E6=8C=87=E4=BB=A4=E6=94=B9?= =?UTF-8?q?=E4=B8=BA=E7=9B=B8=E5=AF=B9=E7=A7=BB=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../debug/TransportationArmMoveCommandHandler.java | 6 ++-- .../gd/common/cmd/DeviceCommandGenerator.java | 33 ++++++++++++++++++++++ .../com/iflytop/gd/common/enums/cmd/CmdAction.java | 2 +- 3 files changed, 37 insertions(+), 4 deletions(-) diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java b/src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java index f2f84f2..240daa8 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java +++ b/src/main/java/com/iflytop/gd/app/cmd/debug/TransportationArmMoveCommandHandler.java @@ -33,17 +33,17 @@ public class TransportationArmMoveCommandHandler extends BaseCommandHandler { Double z = cmdDTO.getDoubleParam("zDimDistance"); List futuresList = new ArrayList<>(); if (x != null) { - DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMove(x); + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryXMoveBy(x); CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); futuresList.add(deviceCommandFuture); } if (y != null) { - DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMove(y); + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryYMoveBy(y); CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); futuresList.add(deviceCommandFuture); } if (z != null) { - DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMove(z); + DeviceCommandBundle deviceCommand = DeviceCommandGenerator.gantryZMoveBy(z); CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand); futuresList.add(deviceCommandFuture); } diff --git a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java index 3effe62..2755a01 100644 --- a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java +++ b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java @@ -306,6 +306,39 @@ public class DeviceCommandGenerator { } /** + * 龙门架 x轴相对移动 + * + * @param position 位置 单位 mm + */ + 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"); + } + + /** + * 龙门架 y轴相对移动 + * + * @param position 位置 单位 mm + */ + 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"); + } + + /** + * 龙门架 z轴相对移动 + * + * @param position 位置 单位 mm + */ + 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"); + } + + /** * 龙门架 x轴停止 */ public static DeviceCommandBundle gantryXStop() { diff --git a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java index e3d45df..0d1139a 100644 --- a/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java +++ b/src/main/java/com/iflytop/gd/common/enums/cmd/CmdAction.java @@ -1,6 +1,6 @@ package com.iflytop.gd.common.enums.cmd; public enum CmdAction { - open, close, stop, start, origin, move, move_joint, move_point, set, get, tight, loose, + open, close, stop, start, origin, move, move_by, move_joint, move_point, set, get, tight, loose, open_power, close_power, open_circle, close_circle, open_heart, close_heart, open_cool, close_cool, take_photo }