fix:状态赋值

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

@@ -1,6 +1,7 @@
 package com.iflytop.gd.app.cmd;
 
 import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.core.device.TrayState;
 import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
@@ -34,6 +35,8 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
+            TrayState trayState = deviceStateService.getTrayInSolutionModule();
+
             Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D); //将机械臂移动至加液区托盘上方
             double clawTrayPick = devicePositionService.getPosition(DevicePositionCode.clawTrayPick).getDistance();//获取夹爪托盘夹取距离
@@ -65,7 +68,8 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
             Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight); //降下机械臂使拍子盖住托盘试管
-            deviceStateService.setHeatModuleStateCapExist(heatModuleId, true);
+            trayState.setHeatModuleId(heatModuleId);
+            trayState.setInHeatModule(true);
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapPick);//将夹爪张开
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
             gantryArmService.setLiquidIdleTrue();//释放加液区等待

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

@@ -1,6 +1,7 @@
 package com.iflytop.gd.app.cmd;
 
 import com.iflytop.gd.app.core.BaseCommandHandler;
+import com.iflytop.gd.app.core.device.TrayState;
 import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
@@ -34,6 +35,8 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
         String heatId = cmdDTO.getStringParam("heatId");
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
         return runAsync(() -> {
+            TrayState trayState = deviceStateService.getTrayInSolutionModule();
+
             gantryArmService.waitLiquidIdle();//等待加液区空闲
             gantryArmService.setLiquidIdleFalse();//锁定加液区
             double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
@@ -68,12 +71,14 @@ public class MoveToSolutionAreaCommand extends BaseCommandHandler {
             double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -traySafetyHeight);//机械臂提升至移动托盘的安全高度
             deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 0);
+            trayState.setInHeatModule(false);
             Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
             Point3D liquidAreaTraySafetyHeightPoint3D = new Point3D(liquidAreaTrayPoint3D.getX(), liquidAreaTrayPoint3D.getY(), liquidAreaTrayPoint3D.getZ() - traySafetyHeight);//加液区托盘点位上方加上移动托盘的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTraySafetyHeightPoint3D);//移动机械臂至加液区托盘点位上方减去移动托盘的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight);//下降机械臂将托盘与试管落入加液区
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawTrayPick);//松开夹爪，放下托盘
             deviceStateService.setSolutionModuleStateTrayStatus(1);
+            trayState.setInSolutionModule(true);
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -clawDescend);//抬升机械臂至托盘上方
         });
     }

src/main/java/com/iflytop/gd/app/controller/TrayController.java

@@ -0,0 +1,51 @@
+package com.iflytop.gd.app.controller;
+
+import com.iflytop.gd.app.core.device.TrayState;
+import com.iflytop.gd.app.core.device.TubeState;
+import com.iflytop.gd.app.model.entity.User;
+import com.iflytop.gd.app.model.vo.SetTrayTubeVO;
+import com.iflytop.gd.app.service.TrayService;
+import com.iflytop.gd.common.result.Result;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.List;
+
+/**
+ * 托盘控制
+ */
+@Tag(name = "托盘控制")
+@RestController
+@RequestMapping("/api/tray")
+@RequiredArgsConstructor
+@Slf4j
+public class TrayController {
+    private final TrayService trayService;
+
+    @Operation(summary = "放入新托盘")
+    @PostMapping("/in")
+    public Result<TrayState> trayIn() {
+        return Result.success(trayService.trayIn());
+    }
+
+    @Operation(summary = "拿走托盘")
+    @PostMapping("/out")
+    public Result<?> trayOut() {
+        trayService.trayOut();
+        return Result.success();
+    }
+
+    @Operation(summary = "设置托盘试管")
+    @PostMapping("/tube")
+    public Result<?> setTrayTube(@RequestBody SetTrayTubeVO setTrayTubeVO) {
+        trayService.setTrayTube(setTrayTubeVO);
+        return Result.success();
+    }
+
+}

src/main/java/com/iflytop/gd/app/core/device/TubeState.java

@@ -6,6 +6,9 @@ import lombok.Data;
 @Schema(description = "试管位")
 @Data
 public class TubeState {
+    @Schema(description = "试管编号")
+    private int tubeNum;
+
     @Schema(description = "是否添加过溶液 true添加过")
     private boolean addSolution = false;
 

src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java

@@ -0,0 +1,22 @@
+package com.iflytop.gd.app.model.vo;
+
+import com.iflytop.gd.app.core.device.TubeState;
+import com.iflytop.gd.app.model.bo.CraftsStep;
+import com.iflytop.gd.common.enums.automaton.CraftStates;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 设置托盘试管
+ */
+@Data
+public class SetTrayTubeVO {
+    @Schema(description = "托盘UUID")
+    private String trayUuid;
+
+    @Schema(description = "矿石 ID")
+    private TubeState[] tubes;
+
+}

src/main/java/com/iflytop/gd/app/service/DeviceStateService.java

@@ -4,11 +4,11 @@ import com.iflytop.gd.app.core.device.*;
 import com.iflytop.gd.app.core.listener.DeviceStateListener;
 import com.iflytop.gd.common.enums.ContainerCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
-import jakarta.annotation.PostConstruct;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
 import java.beans.PropertyChangeSupport;
+import java.util.List;
 
 /**
  * 设备状态服务
@@ -39,6 +39,25 @@ public class DeviceStateService {
         return heatModuleState;
     }
 
+    public synchronized TrayState getTrayState(String trayUUID) {
+        TrayState foundTrayState = null;
+        for (TrayState t : deviceState.getTray()) {
+            if (trayUUID.equals(t.getUuid())) {
+                foundTrayState = t;
+                break;
+            }
+        }
+        return foundTrayState;
+    }
+
+    public synchronized TrayState getTrayInSolutionModule() {
+        List<TrayState> trayList = deviceState.getTray();
+        return trayList.stream()
+                .filter(TrayState::isInSolutionModule)
+                .findFirst()
+                .orElse(null);
+    }
+
     public synchronized void setVirtual(boolean virtual) {
         boolean oldValue = deviceState.isVirtual();
         deviceState.setVirtual(virtual);

src/main/java/com/iflytop/gd/app/service/TrayService.java

@@ -0,0 +1,47 @@
+package com.iflytop.gd.app.service;
+
+import com.iflytop.gd.app.core.device.TrayState;
+import com.iflytop.gd.app.model.vo.SetTrayTubeVO;
+import lombok.RequiredArgsConstructor;
+import org.springframework.stereotype.Service;
+
+import java.util.List;
+
+/**
+ * 托盘控制实现类
+ */
+@Service
+@RequiredArgsConstructor
+public class TrayService {
+    private final DeviceStateService deviceStateService;
+
+    /**
+     * 放入了新托盘
+     */
+    public synchronized TrayState trayIn() {
+        TrayState trayState = new TrayState();
+        trayState.setInSolutionModule(true);
+        deviceStateService.getDeviceState().getTray().add(trayState);
+        deviceStateService.setSolutionModuleStateTrayStatus(1);
+        return trayState;
+    }
+
+    /**
+     * 拿走了托盘
+     */
+    public synchronized void trayOut() {
+        List<TrayState> trayList = deviceStateService.getDeviceState().getTray();
+        trayList.removeIf(TrayState::isInSolutionModule);
+        deviceStateService.setSolutionModuleStateTrayStatus(0);
+    }
+
+    /**
+     * 设置托盘试管
+     */
+    public synchronized void setTrayTube(SetTrayTubeVO setTrayTubeVO) {
+        TrayState trayState = deviceStateService.getTrayState(setTrayTubeVO.getTrayUuid());
+        trayState.setTubes(setTrayTubeVO.getTubes());
+    }
+
+
+}

src/main/resources/init/zapp_sub_module_reg_initial_value.csv

@@ -1,6 +1,6 @@
 id,mid,regIndex,regInitVal
 1,HBotClawSV,kreg_mini_servo_limit_velocity,10000
-2,HBotClawSV,kreg_mini_servo_limit_torque,300
+2,HBotClawSV,kreg_mini_servo_limit_torque,400
 3,HBotClawSV,kreg_mini_servo_protective_torque,800
 4,HBotClawSV,kreg_mini_servo_target_pos_tolerance,15
 5,HBotClawSV,kreg_mini_servo_servo_min_angle,0
@@ -83,7 +83,7 @@ id,mid,regIndex,regInitVal
 82,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d0,1748
 83,LiquidDistributionArm,kreg_liquid_distribution_arm_pos16_d1,1450
 84,DoorM,kreg_step_motor_shaft,1
-85,DoorM,kreg_step_motor_one_circle_pulse,10000
+85,DoorM,kreg_step_motor_one_circle_pulse,500
 86,DoorM,kreg_step_motor_one_circle_pulse_denominator,1
 87,DoorM,kreg_step_motor_default_velocity,500
 88,DoorM,kreg_step_motor_low_velocity,0
@@ -113,7 +113,7 @@ id,mid,regIndex,regInitVal
 112,DoorM,kret_step_motor_pos_devi_tolerance,0
 113,DoorM,kret_step_motor_io_trigger_append_distance,0
 114,ShakeM,kreg_step_motor_shaft,1
-115,ShakeM,kreg_step_motor_one_circle_pulse,10000
+115,ShakeM,kreg_step_motor_one_circle_pulse,100
 116,ShakeM,kreg_step_motor_one_circle_pulse_denominator,1
 117,ShakeM,kreg_step_motor_default_velocity,500
 118,ShakeM,kreg_step_motor_low_velocity,0
@@ -143,14 +143,14 @@ id,mid,regIndex,regInitVal
 142,ShakeM,kret_step_motor_pos_devi_tolerance,0
 143,ShakeM,kret_step_motor_io_trigger_append_distance,0
 144,CapStorageM,kreg_step_motor_shaft,1
-145,CapStorageM,kreg_step_motor_one_circle_pulse,10000
-146,CapStorageM,kreg_step_motor_one_circle_pulse_denominator,5
+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,500
 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,10
+152,CapStorageM,kreg_step_motor_irun,20
 153,CapStorageM,kreg_step_motor_iholddelay,10
 154,CapStorageM,kreg_step_motor_iglobalscaler,0
 155,CapStorageM,kreg_step_motor_mres,0
@@ -173,8 +173,8 @@ id,mid,regIndex,regInitVal
 172,CapStorageM,kret_step_motor_pos_devi_tolerance,0
 173,CapStorageM,kret_step_motor_io_trigger_append_distance,0
 174,HBotXM,kreg_step_motor_shaft,1
-175,HBotXM,kreg_step_motor_one_circle_pulse,10000
-176,HBotXM,kreg_step_motor_one_circle_pulse_denominator,5
+175,HBotXM,kreg_step_motor_one_circle_pulse,500
+176,HBotXM,kreg_step_motor_one_circle_pulse_denominator,1
 177,HBotXM,kreg_step_motor_default_velocity,500
 178,HBotXM,kreg_step_motor_low_velocity,0
 179,HBotXM,kreg_step_motor_mid_velocity,0
@@ -203,8 +203,8 @@ id,mid,regIndex,regInitVal
 202,HBotXM,kret_step_motor_pos_devi_tolerance,0
 203,HBotXM,kret_step_motor_io_trigger_append_distance,0
 204,HBotYM,kreg_step_motor_shaft,1
-205,HBotYM,kreg_step_motor_one_circle_pulse,10000
-206,HBotYM,kreg_step_motor_one_circle_pulse_denominator,4
+205,HBotYM,kreg_step_motor_one_circle_pulse,400
+206,HBotYM,kreg_step_motor_one_circle_pulse_denominator,1
 207,HBotYM,kreg_step_motor_default_velocity,500
 208,HBotYM,kreg_step_motor_low_velocity,0
 209,HBotYM,kreg_step_motor_mid_velocity,0
@@ -233,8 +233,8 @@ id,mid,regIndex,regInitVal
 232,HBotYM,kret_step_motor_pos_devi_tolerance,0
 233,HBotYM,kret_step_motor_io_trigger_append_distance,0
 234,HBotZM,kreg_step_motor_shaft,1
-235,HBotZM,kreg_step_motor_one_circle_pulse,10000
-236,HBotZM,kreg_step_motor_one_circle_pulse_denominator,5
+235,HBotZM,kreg_step_motor_one_circle_pulse,500
+236,HBotZM,kreg_step_motor_one_circle_pulse_denominator,1
 237,HBotZM,kreg_step_motor_default_velocity,500
 238,HBotZM,kreg_step_motor_low_velocity,0
 239,HBotZM,kreg_step_motor_mid_velocity,0
@@ -263,8 +263,8 @@ id,mid,regIndex,regInitVal
 262,HBotZM,kret_step_motor_pos_devi_tolerance,0
 263,HBotZM,kret_step_motor_io_trigger_append_distance,0
 264,Heater1M,kreg_step_motor_shaft,1
-265,Heater1M,kreg_step_motor_one_circle_pulse,10000
-266,Heater1M,kreg_step_motor_one_circle_pulse_denominator,4
+265,Heater1M,kreg_step_motor_one_circle_pulse,400
+266,Heater1M,kreg_step_motor_one_circle_pulse_denominator,1
 267,Heater1M,kreg_step_motor_default_velocity,500
 268,Heater1M,kreg_step_motor_low_velocity,0
 269,Heater1M,kreg_step_motor_mid_velocity,0
@@ -293,8 +293,8 @@ id,mid,regIndex,regInitVal
 292,Heater1M,kret_step_motor_pos_devi_tolerance,0
 293,Heater1M,kret_step_motor_io_trigger_append_distance,0
 294,Heater2M,kreg_step_motor_shaft,1
-295,Heater2M,kreg_step_motor_one_circle_pulse,10000
-296,Heater2M,kreg_step_motor_one_circle_pulse_denominator,4
+295,Heater2M,kreg_step_motor_one_circle_pulse,400
+296,Heater2M,kreg_step_motor_one_circle_pulse_denominator,1
 297,Heater2M,kreg_step_motor_default_velocity,500
 298,Heater2M,kreg_step_motor_low_velocity,0
 299,Heater2M,kreg_step_motor_mid_velocity,0
@@ -323,8 +323,8 @@ id,mid,regIndex,regInitVal
 322,Heater2M,kret_step_motor_pos_devi_tolerance,0
 323,Heater2M,kret_step_motor_io_trigger_append_distance,0
 324,Heater3M,kreg_step_motor_shaft,1
-325,Heater3M,kreg_step_motor_one_circle_pulse,10000
-326,Heater3M,kreg_step_motor_one_circle_pulse_denominator,4
+325,Heater3M,kreg_step_motor_one_circle_pulse,400
+326,Heater3M,kreg_step_motor_one_circle_pulse_denominator,1
 327,Heater3M,kreg_step_motor_default_velocity,500
 328,Heater3M,kreg_step_motor_low_velocity,0
 329,Heater3M,kreg_step_motor_mid_velocity,0
@@ -353,8 +353,8 @@ id,mid,regIndex,regInitVal
 352,Heater3M,kret_step_motor_pos_devi_tolerance,0
 353,Heater3M,kret_step_motor_io_trigger_append_distance,0
 354,Heater4M,kreg_step_motor_shaft,1
-355,Heater4M,kreg_step_motor_one_circle_pulse,10000
-356,Heater4M,kreg_step_motor_one_circle_pulse_denominator,4
+355,Heater4M,kreg_step_motor_one_circle_pulse,400
+356,Heater4M,kreg_step_motor_one_circle_pulse_denominator,1
 357,Heater4M,kreg_step_motor_default_velocity,500
 358,Heater4M,kreg_step_motor_low_velocity,0
 359,Heater4M,kreg_step_motor_mid_velocity,0
@@ -383,8 +383,8 @@ id,mid,regIndex,regInitVal
 382,Heater4M,kret_step_motor_pos_devi_tolerance,0
 383,Heater4M,kret_step_motor_io_trigger_append_distance,0
 384,Heater5M,kreg_step_motor_shaft,1
-385,Heater5M,kreg_step_motor_one_circle_pulse,10000
-386,Heater5M,kreg_step_motor_one_circle_pulse_denominator,4
+385,Heater5M,kreg_step_motor_one_circle_pulse,400
+386,Heater5M,kreg_step_motor_one_circle_pulse_denominator,1
 387,Heater5M,kreg_step_motor_default_velocity,500
 388,Heater5M,kreg_step_motor_low_velocity,0
 389,Heater5M,kreg_step_motor_mid_velocity,0
@@ -413,8 +413,8 @@ id,mid,regIndex,regInitVal
 412,Heater5M,kret_step_motor_pos_devi_tolerance,0
 413,Heater5M,kret_step_motor_io_trigger_append_distance,0
 414,Heater6M,kreg_step_motor_shaft,1
-415,Heater6M,kreg_step_motor_one_circle_pulse,10000
-416,Heater6M,kreg_step_motor_one_circle_pulse_denominator,4
+415,Heater6M,kreg_step_motor_one_circle_pulse,400
+416,Heater6M,kreg_step_motor_one_circle_pulse_denominator,1
 417,Heater6M,kreg_step_motor_default_velocity,500
 418,Heater6M,kreg_step_motor_low_velocity,0
 419,Heater6M,kreg_step_motor_mid_velocity,0
@@ -443,7 +443,7 @@ id,mid,regIndex,regInitVal
 442,Heater6M,kret_step_motor_pos_devi_tolerance,0
 443,Heater6M,kret_step_motor_io_trigger_append_distance,0
 444,AcidPump1M,kreg_step_motor_shaft,1
-445,AcidPump1M,kreg_step_motor_one_circle_pulse,10000
+445,AcidPump1M,kreg_step_motor_one_circle_pulse,100
 446,AcidPump1M,kreg_step_motor_one_circle_pulse_denominator,1
 447,AcidPump1M,kreg_step_motor_default_velocity,500
 448,AcidPump1M,kreg_step_motor_low_velocity,0
@@ -473,7 +473,7 @@ id,mid,regIndex,regInitVal
 472,AcidPump1M,kret_step_motor_pos_devi_tolerance,0
 473,AcidPump1M,kret_step_motor_io_trigger_append_distance,0
 474,AcidPump2M,kreg_step_motor_shaft,1
-475,AcidPump2M,kreg_step_motor_one_circle_pulse,10000
+475,AcidPump2M,kreg_step_motor_one_circle_pulse,100
 476,AcidPump2M,kreg_step_motor_one_circle_pulse_denominator,1
 477,AcidPump2M,kreg_step_motor_default_velocity,500
 478,AcidPump2M,kreg_step_motor_low_velocity,0
@@ -503,7 +503,7 @@ id,mid,regIndex,regInitVal
 502,AcidPump2M,kret_step_motor_pos_devi_tolerance,0
 503,AcidPump2M,kret_step_motor_io_trigger_append_distance,0
 504,AcidPump3M,kreg_step_motor_shaft,1
-505,AcidPump3M,kreg_step_motor_one_circle_pulse,10000
+505,AcidPump3M,kreg_step_motor_one_circle_pulse,100
 506,AcidPump3M,kreg_step_motor_one_circle_pulse_denominator,1
 507,AcidPump3M,kreg_step_motor_default_velocity,500
 508,AcidPump3M,kreg_step_motor_low_velocity,0
@@ -533,7 +533,7 @@ id,mid,regIndex,regInitVal
 532,AcidPump3M,kret_step_motor_pos_devi_tolerance,0
 533,AcidPump3M,kret_step_motor_io_trigger_append_distance,0
 534,AcidPump4M,kreg_step_motor_shaft,1
-535,AcidPump4M,kreg_step_motor_one_circle_pulse,10000
+535,AcidPump4M,kreg_step_motor_one_circle_pulse,100
 536,AcidPump4M,kreg_step_motor_one_circle_pulse_denominator,1
 537,AcidPump4M,kreg_step_motor_default_velocity,500
 538,AcidPump4M,kreg_step_motor_low_velocity,0
@@ -563,7 +563,7 @@ id,mid,regIndex,regInitVal
 562,AcidPump4M,kret_step_motor_pos_devi_tolerance,0
 563,AcidPump4M,kret_step_motor_io_trigger_append_distance,0
 564,AcidPump5M,kreg_step_motor_shaft,1
-565,AcidPump5M,kreg_step_motor_one_circle_pulse,10000
+565,AcidPump5M,kreg_step_motor_one_circle_pulse,100
 566,AcidPump5M,kreg_step_motor_one_circle_pulse_denominator,1
 567,AcidPump5M,kreg_step_motor_default_velocity,500
 568,AcidPump5M,kreg_step_motor_low_velocity,0
@@ -593,7 +593,7 @@ id,mid,regIndex,regInitVal
 592,AcidPump5M,kret_step_motor_pos_devi_tolerance,0
 593,AcidPump5M,kret_step_motor_io_trigger_append_distance,0
 594,AcidPump6M,kreg_step_motor_shaft,1
-595,AcidPump6M,kreg_step_motor_one_circle_pulse,10000
+595,AcidPump6M,kreg_step_motor_one_circle_pulse,100
 596,AcidPump6M,kreg_step_motor_one_circle_pulse_denominator,1
 597,AcidPump6M,kreg_step_motor_default_velocity,500
 598,AcidPump6M,kreg_step_motor_low_velocity,0
@@ -623,7 +623,7 @@ id,mid,regIndex,regInitVal
 622,AcidPump6M,kret_step_motor_pos_devi_tolerance,0
 623,AcidPump6M,kret_step_motor_io_trigger_append_distance,0
 624,AcidPump7M,kreg_step_motor_shaft,1
-625,AcidPump7M,kreg_step_motor_one_circle_pulse,10000
+625,AcidPump7M,kreg_step_motor_one_circle_pulse,100
 626,AcidPump7M,kreg_step_motor_one_circle_pulse_denominator,1
 627,AcidPump7M,kreg_step_motor_default_velocity,500
 628,AcidPump7M,kreg_step_motor_low_velocity,0
@@ -653,7 +653,7 @@ id,mid,regIndex,regInitVal
 652,AcidPump7M,kret_step_motor_pos_devi_tolerance,0
 653,AcidPump7M,kret_step_motor_io_trigger_append_distance,0
 654,AcidPump8M,kreg_step_motor_shaft,1
-655,AcidPump8M,kreg_step_motor_one_circle_pulse,10000
+655,AcidPump8M,kreg_step_motor_one_circle_pulse,100
 656,AcidPump8M,kreg_step_motor_one_circle_pulse_denominator,1
 657,AcidPump8M,kreg_step_motor_default_velocity,500
 658,AcidPump8M,kreg_step_motor_low_velocity,0
@@ -681,4 +681,4 @@ id,mid,regIndex,regInitVal
 680,AcidPump8M,kreg_step_motor_enable_enc,0
 681,AcidPump8M,kreg_step_motor_dzero_pos,0
 682,AcidPump8M,kret_step_motor_pos_devi_tolerance,0
-683,AcidPump8M,kret_step_motor_io_trigger_append_distance,0
+683,AcidPump8M,kret_step_motor_io_trigger_append_distance,0