From 991b246bac8c71c507d771fa97f41d042056e567 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Mon, 12 May 2025 01:37:03 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E7=8A=B6=E6=80=81=E8=B5=8B=E5=80=BC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../iflytop/gd/app/cmd/MoveToHeatAreaCommand.java | 6 +- .../gd/app/cmd/MoveToSolutionAreaCommand.java | 5 ++ .../iflytop/gd/app/controller/TrayController.java | 51 +++++++++++++++++ .../com/iflytop/gd/app/core/device/TubeState.java | 3 + .../com/iflytop/gd/app/model/vo/SetTrayTubeVO.java | 22 ++++++++ .../iflytop/gd/app/service/DeviceStateService.java | 21 ++++++- .../com/iflytop/gd/app/service/TrayService.java | 47 +++++++++++++++ .../init/zapp_sub_module_reg_initial_value.csv | 66 +++++++++++----------- 8 files changed, 186 insertions(+), 35 deletions(-) create mode 100644 src/main/java/com/iflytop/gd/app/controller/TrayController.java create mode 100644 src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java create mode 100644 src/main/java/com/iflytop/gd/app/service/TrayService.java diff --git a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java index dd97467..07f9d6c 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java +++ b/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 diff --git a/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java index 7cf9555..7607f7c 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/MoveToSolutionAreaCommand.java +++ b/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 }); } diff --git a/src/main/java/com/iflytop/gd/app/controller/TrayController.java b/src/main/java/com/iflytop/gd/app/controller/TrayController.java new file mode 100644 index 0000000..6deb9d7 --- /dev/null +++ b/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 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(); + } + +} diff --git a/src/main/java/com/iflytop/gd/app/core/device/TubeState.java b/src/main/java/com/iflytop/gd/app/core/device/TubeState.java index b98af42..bc403fb 100644 --- a/src/main/java/com/iflytop/gd/app/core/device/TubeState.java +++ b/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; diff --git a/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java b/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java new file mode 100644 index 0000000..2bf19da --- /dev/null +++ b/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; + +} \ No newline at end of file diff --git a/src/main/java/com/iflytop/gd/app/service/DeviceStateService.java b/src/main/java/com/iflytop/gd/app/service/DeviceStateService.java index f0c9d98..d5a3f27 100644 --- a/src/main/java/com/iflytop/gd/app/service/DeviceStateService.java +++ b/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 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); diff --git a/src/main/java/com/iflytop/gd/app/service/TrayService.java b/src/main/java/com/iflytop/gd/app/service/TrayService.java new file mode 100644 index 0000000..33682b6 --- /dev/null +++ b/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 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()); + } + + +} diff --git a/src/main/resources/init/zapp_sub_module_reg_initial_value.csv b/src/main/resources/init/zapp_sub_module_reg_initial_value.csv index dcb8020..e8f44cf 100644 --- a/src/main/resources/init/zapp_sub_module_reg_initial_value.csv +++ b/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 \ No newline at end of file +683,AcidPump8M,kret_step_motor_io_trigger_append_distance,0