同步代码

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

@@ -22,15 +22,13 @@ import java.util.concurrent.CompletableFuture;
 @CommandMapping("door_close")//业务指令注解
 public class DoorCloseCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
-    private final DevicePositionService devicePositionService;
     private final DeviceStateService deviceStateService;
 
 
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         return runAsync(() -> {
-            Double doorOpenDistance = devicePositionService.getPosition(DevicePositionCode.doorClose).getDistance();
-            deviceCommandUtilService.doorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), doorOpenDistance);
+            deviceCommandUtilService.doorOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand());
             deviceStateService.setDoorStatus(false);
             //TODO 关门口判断加液模块是否有托盘
         });

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

@@ -70,6 +70,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), traySafetyHeight); //降下机械臂使拍子盖住托盘试管
             trayState.setHeatModuleId(heatModuleId);
             trayState.setInHeatModule(true);
+            deviceStateService.setHeatModuleStateCapExist(heatModuleId, 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/debug/HoldingJawOpenCommandHandler.java

@@ -27,11 +27,17 @@ public class HoldingJawOpenCommandHandler extends BaseCommandHandler {
     @Override
     public CompletableFuture<Void> handle(CmdDTO cmdDTO) {
         this.stop = false;
+        Double velocity = cmdDTO.getDoubleParam("velocity");
+        Double openDistance = cmdDTO.getDoubleParam("openDistance");
+        Double closeDistance = cmdDTO.getDoubleParam("closeDistance");
+        Integer times = cmdDTO.getIntegerParam("times");
+        if(openDistance < 34 || openDistance > 54) {
+            throw new RuntimeException("openDistance must be between 34 and 54");
+        }
+        if(closeDistance < 34 || closeDistance > 54) {
+            throw new RuntimeException("closeDistance must be between 34 and 54");
+        }
         return runAsync(() -> {
-            Double velocity = cmdDTO.getDoubleParam("velocity");
-            Double openDistance = cmdDTO.getDoubleParam("openDistance");
-            Double closeDistance = cmdDTO.getDoubleParam("closeDistance");
-            Integer times = cmdDTO.getIntegerParam("times");
             if (velocity != null) {
                 DeviceCommandBundle deviceCommand = DeviceCommandGenerator.clawSet(velocity);
                 CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdDTO.getCommandId(), cmdDTO.getCommand(), deviceCommand);

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

@@ -29,7 +29,9 @@ public class TrayState {
 
     public TrayState() {
         for (int i = 0; i < tubes.length; i++) {
-            tubes[i] = new TubeState();
+            TubeState tubeState = new TubeState();
+            tubeState.setTubeNum(i);
+            tubes[i] = tubeState;
         }
     }
 }

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

@@ -3,6 +3,7 @@ package com.iflytop.gd.app.service;
 import cn.hutool.json.JSONArray;
 import cn.hutool.json.JSONObject;
 import com.iflytop.gd.app.core.CraftsDebugGenerator;
+import com.iflytop.gd.app.core.device.TrayState;
 import com.iflytop.gd.app.model.bo.CraftsStep;
 import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
@@ -24,6 +25,7 @@ public class CraftsStepService {
     private final ContainerService containerService;
     private final WebSocketService webSocketService;
     private final GantryArmService gantryArmService;
+    private final DeviceStateService deviceStateService;
 
 
     /**
@@ -50,6 +52,7 @@ public class CraftsStepService {
      */
     private boolean addLiquid(String heatId, JSONObject params) throws Exception {
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+        TrayState trayState = deviceStateService.getTrayInSolutionModule();
 
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "等待加液区空闲", null));
         gantryArmService.waitLiquidIdle();//等待加液区空闲
@@ -59,6 +62,7 @@ public class CraftsStepService {
         double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "抬升加热位托盘", trayLift));
         deviceCommandUtilService.heaterMotorMove(heatModuleId, trayLift);//抬升加热位托盘
+        deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 2);
         //TODO 判断托盘是否有拍子
         Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "将机械臂移动至拍子上方", heatAreaCapClawPoint3D));
@@ -75,6 +79,7 @@ public class CraftsStepService {
         double capSafetyHeight = devicePositionService.getPosition(DevicePositionCode.capSafetyHeight).getDistance();//获取移动拍子的安全高度
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "机械臂提升至移动拍子的安全高度", -capSafetyHeight));
         deviceCommandUtilService.gantryZMoveBy(-capSafetyHeight);//机械臂提升至移动拍子的安全高度
+        deviceStateService.setHeatModuleStateCapExist(heatModuleId, false);
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "下降拍子存放区1个位置", null));
         deviceCommandUtilService.capMotorMove(-1); //下降拍子存放区1个位置
         Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
@@ -101,6 +106,8 @@ public class CraftsStepService {
         double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "机械臂提升至移动托盘的安全高度", -traySafetyHeight));
         deviceCommandUtilService.gantryZMoveBy(-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
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "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", liquidAreaTraySafetyHeightPoint3D));
@@ -109,6 +116,8 @@ public class CraftsStepService {
         deviceCommandUtilService.gantryZMoveBy(traySafetyHeight);//下降机械臂将托盘与试管落入加液区
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "松开夹爪，放下托盘", clawTrayPick));
         deviceCommandUtilService.clawMove(clawTrayPick);//松开夹爪，放下托盘
+        deviceStateService.setSolutionModuleStateTrayStatus(1);
+        trayState.setInSolutionModule(true);
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "抬升机械臂至托盘上方", -clawDescend));
         deviceCommandUtilService.gantryZMoveBy(-clawDescend);//抬升机械臂至托盘上方
 
@@ -154,6 +163,7 @@ public class CraftsStepService {
      */
     private boolean heating(String heatId, JSONObject params) throws Exception {
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+        TrayState trayState = deviceStateService.getTrayInSolutionModule();
         //if 判断加液区是否有托盘
 
         Point3D liquidAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D();//获取加液区托盘夹爪点
@@ -171,6 +181,7 @@ public class CraftsStepService {
         double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "机械臂提升至移动托盘的安全高度", -traySafetyHeight));
         deviceCommandUtilService.gantryZMoveBy(-traySafetyHeight);//机械臂提升至移动托盘的安全高度
+        deviceStateService.setSolutionModuleStateTrayStatus(0);
         Point3D heatAreaTrayClawPoint3D = deviceCommandUtilService.getHeatAreaTrayClawPoint3D(heatModuleId);//获取指定托盘上方点位
         Point3D heatAreaTrayClawSafetyHeightPoint3D = new Point3D(heatAreaTrayClawPoint3D.getX(), heatAreaTrayClawPoint3D.getY(), heatAreaTrayClawPoint3D.getZ() - traySafetyHeight);//加热区托盘点位上方减去移动托盘的安全高度
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "将携带托盘的机械臂移动至托盘上方", heatAreaTrayClawSafetyHeightPoint3D));
@@ -202,16 +213,21 @@ public class CraftsStepService {
         deviceCommandUtilService.gantryMove(heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "降下机械臂使拍子盖住托盘试管", traySafetyHeight));
         deviceCommandUtilService.gantryZMoveBy(traySafetyHeight); //降下机械臂使拍子盖住托盘试管
+        trayState.setHeatModuleId(heatModuleId);
+        trayState.setInHeatModule(true);
+        deviceStateService.setHeatModuleStateCapExist(heatModuleId, true);
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "将夹爪张开", clawCapPick));
         deviceCommandUtilService.clawMove(clawCapPick);//将夹爪张开
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "抬升机械臂至托盘上方", -clawDescend));
         deviceCommandUtilService.gantryZMoveBy(-clawDescend);//抬升机械臂至托盘上方
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "释放加液区等待", null));
         gantryArmService.setLiquidIdleTrue();//释放加液区等待
+        deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 2);
 
         double trayLower = devicePositionService.getPosition(DevicePositionCode.trayLower).getDistance(); //获取加热位下降托盘位置
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "下降加热位托盘", trayLower));
         deviceCommandUtilService.heaterMotorMove(heatModuleId, trayLower);//下降加热位托盘
+        deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 1);
         //根据配置开始加热
         Double temperature = params.getDouble("temperature");
         Integer second = params.getInt("second");
@@ -231,6 +247,7 @@ public class CraftsStepService {
      */
     private boolean takePhoto(String heatId) throws Exception {
         HeatModuleCode heatModuleId = HeatModuleCode.valueOf(heatId);
+        TrayState trayState = deviceStateService.getTrayInSolutionModule();
 
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "等待加液区空闲", null));
         gantryArmService.waitLiquidIdle();//等待加液区空闲
@@ -240,6 +257,8 @@ public class CraftsStepService {
         double trayLift = devicePositionService.getPosition(DevicePositionCode.trayLift).getDistance(); //获取加热位抬升托盘位置
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "抬升加热位托盘", trayLift));
         deviceCommandUtilService.heaterMotorMove(heatModuleId, trayLift);//抬升加热位托盘
+        deviceStateService.setHeatModuleStateTrayStatus(heatModuleId, 2);
+
         //TODO 判断托盘是否有拍子
         Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "将机械臂移动至拍子上方", heatAreaCapClawPoint3D));
@@ -257,6 +276,7 @@ public class CraftsStepService {
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "机械臂提升至移动拍子的安全高度", -capSafetyHeight));
         deviceCommandUtilService.gantryZMoveBy(-capSafetyHeight);//机械臂提升至移动拍子的安全高度
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "下降拍子存放区1个位置", null));
+        deviceStateService.setHeatModuleStateCapExist(heatModuleId, false);
         deviceCommandUtilService.capMotorMove(-1); //下降拍子存放区1个位置
         Point3D capStorageCapClawPoint3D = devicePositionService.getPosition(DevicePositionCode.capStorageCapClawPoint).getPoint3D();//获取拍子存放区上方点位;
         Point3D capStorageCapClawSafetyHeightPoint3D = new Point3D(capStorageCapClawPoint3D.getX(), capStorageCapClawPoint3D.getY(), capStorageCapClawPoint3D.getZ() - capSafetyHeight);//拍子存放区上方加上移动拍子的安全高度
@@ -282,6 +302,8 @@ public class CraftsStepService {
         double traySafetyHeight = devicePositionService.getPosition(DevicePositionCode.traySafetyHeight).getDistance();//获取移动托盘的安全高度
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "机械臂提升至移动托盘的安全高度", -traySafetyHeight));
         deviceCommandUtilService.gantryZMoveBy(-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
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "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", liquidAreaTraySafetyHeightPoint3D));
@@ -290,6 +312,8 @@ public class CraftsStepService {
         deviceCommandUtilService.gantryZMoveBy(traySafetyHeight);//下降机械臂将托盘与试管落入加液区
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "松开夹爪，放下托盘", clawTrayPick));
         deviceCommandUtilService.clawMove(clawTrayPick);//松开夹爪，放下托盘
+        deviceStateService.setSolutionModuleStateTrayStatus(1);
+        trayState.setInSolutionModule(true);
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "抬升机械臂至托盘上方", -clawDescend));
         deviceCommandUtilService.gantryZMoveBy(-clawDescend);//抬升机械臂至托盘上方
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "开启补光灯", 100.0));

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

@@ -123,6 +123,9 @@ public class DeviceCommandService {
                 }
             }).start();
         }
+        if (commandFuture.getCmdId() != null) {
+            webSocketService.pushDebug(DebugGenerator.generateJson(commandFuture.getCmdId(), commandFuture.getCmdCode(), CommandStatus.DEVICE_SEND, commandFuture.getDeviceCommandBundle().getCmdName() + "指令，已发给设备", commandFuture.getDeviceCommandBundle()));
+        }
 
     }
 
@@ -135,7 +138,6 @@ public class DeviceCommandService {
     public CommandFuture sendCommand(String cmdId, String cmdCode, DeviceCommandBundle deviceCommandBundle) {
         CommandFuture commandFuture = createDeviceCommandFuture(cmdId, cmdCode, deviceCommandBundle);
         executeCommand(commandFuture);
-        webSocketService.pushDebug(DebugGenerator.generateJson(cmdId, cmdCode, CommandStatus.DEVICE_SEND, deviceCommandBundle.getCmdName() + "指令，已发给设备", deviceCommandBundle));
         return commandFuture;
     }
 

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

@@ -30,6 +30,22 @@ public class DeviceCommandUtilService {
     private final GDDeviceStatusService gdDeviceStatusService;
 
     /**
+     * 门电机回原点
+     */
+    public void doorOrigin() throws Exception {
+        doorOrigin(null, null);
+    }
+
+    /**
+     * 门电机回原点
+     */
+    public void doorOrigin(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.doorOrigin();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
      * 门电机移动
      */
     public void doorMove(double position) throws Exception {

src/main/java/com/iflytop/gd/common/enums/data/DevicePositionCode.java

@@ -47,11 +47,6 @@ public enum DevicePositionCode {
     doorOpen(DevicePositionType.DISTANCE, "开门距离"),
 
     /**
-     * 关门距离
-     */
-    doorClose(DevicePositionType.DISTANCE, "关门距离"),
-
-    /**
      * 托盘抬升距离
      */
     trayLift(DevicePositionType.DISTANCE, "托盘抬升距离"),
@@ -158,12 +153,7 @@ public enum DevicePositionCode {
     /**
      * 加热区6拍子夹爪点
      */
-    heatArea6CapClawPoint(DevicePositionType.POINT_3D, "加热区6拍子夹爪点"),
-
-    /**
-     * 拍子存放区夹爪点
-     */
-    capStorageClawPoint(DevicePositionType.POINT_3D, "拍子存放区夹爪点");
+    heatArea6CapClawPoint(DevicePositionType.POINT_3D, "加热区6拍子夹爪点");
 
 
     private final DevicePositionType type;

src/main/java/com/iflytop/gd/hardware/constants/MiniServoConstant.java

@@ -6,7 +6,7 @@ import org.springframework.util.Assert;
 import java.util.Map;
 
 public class MiniServoConstant {
-	static public final Integer actionOvertime = 10000;
+	static public final Integer actionOvertime = 20000;
 	static class MiniServoFixPosConfig {
 		public Integer zeroPos;
 		public Integer refPos;

src/main/java/com/iflytop/gd/hardware/drivers/MiniServoDriver/ClawDriver.java

@@ -16,8 +16,8 @@ public class ClawDriver {
     private static final double MIN_DISTANCE = 34.0;
     private static final double MAX_DISTANCE = 54.0;
 
-    private static double MIN_SERVO_POSITION = 1920;
-    private static double MAX_SERVO_POSITION = 3000;
+    private static double MIN_SERVO_POSITION = 2600;
+    private static double MAX_SERVO_POSITION = 3680;
 
     private final MiniServoDriver miniServoDriver;
 

src/main/resources/init/zapp_sub_module_reg_initial_value.csv

@@ -47,7 +47,6 @@ id,mid,regIndex,regInitVal
 46,DualRobotAxis2SV,kreg_mini_servo_servo_protect_time,200
 47,DualRobotAxis2SV,kreg_mini_servo_servo_overload_torque,80
 48,DualRobotAxis2SV,kreg_mini_servo_servo_acc,0
-49,LiquidDistributionArm,kreg_liquid_distribution_arm_enable,0
 50,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d0,466
 51,LiquidDistributionArm,kreg_liquid_distribution_arm_pos0_d1,992
 52,LiquidDistributionArm,kreg_liquid_distribution_arm_pos1_d0,616
@@ -85,27 +84,27 @@ id,mid,regIndex,regInitVal
 84,DoorM,kreg_step_motor_shaft,0
 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,30
+87,DoorM,kreg_step_motor_default_velocity,80
 88,DoorM,kreg_step_motor_low_velocity,30
 89,DoorM,kreg_step_motor_mid_velocity,30
 90,DoorM,kreg_step_motor_high_velocity,30
-91,DoorM,kreg_step_motor_ihold,5
-92,DoorM,kreg_step_motor_irun,15
+91,DoorM,kreg_step_motor_ihold,15
+92,DoorM,kreg_step_motor_irun,31
 93,DoorM,kreg_step_motor_iholddelay,10
-94,DoorM,kreg_step_motor_iglobalscaler,0
+94,DoorM,kreg_step_motor_iglobalscaler,80
 95,DoorM,kreg_step_motor_mres,0
 96,DoorM,kreg_step_motor_run_to_zero_speed,30
 97,DoorM,kreg_step_motor_look_zero_edge_speed,30
 98,DoorM,kreg_step_motor_max_d,0
 99,DoorM,kreg_step_motor_min_d,0
 100,DoorM,kreg_step_motor_in_debug_mode,0
-101,DoorM,kreg_step_motor_vstart,100
+101,DoorM,kreg_step_motor_vstart,50
 102,DoorM,kreg_step_motor_a1,50
-103,DoorM,kreg_step_motor_amax,100
-104,DoorM,kreg_step_motor_v1,300
-105,DoorM,kreg_step_motor_dmax,100
+103,DoorM,kreg_step_motor_amax,50
+104,DoorM,kreg_step_motor_v1,50
+105,DoorM,kreg_step_motor_dmax,50
 106,DoorM,kreg_step_motor_d1,50
-107,DoorM,kreg_step_motor_vstop,100
+107,DoorM,kreg_step_motor_vstop,50
 108,DoorM,kreg_step_motor_tzerowait,0
 109,DoorM,kreg_step_motor_enc_resolution,0
 110,DoorM,kreg_step_motor_enable_enc,0
@@ -115,27 +114,27 @@ id,mid,regIndex,regInitVal
 114,ShakeM,kreg_step_motor_shaft,1
 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
+117,ShakeM,kreg_step_motor_default_velocity,240
 118,ShakeM,kreg_step_motor_low_velocity,0
 119,ShakeM,kreg_step_motor_mid_velocity,0
 120,ShakeM,kreg_step_motor_high_velocity,0
 121,ShakeM,kreg_step_motor_ihold,5
-122,ShakeM,kreg_step_motor_irun,10
+122,ShakeM,kreg_step_motor_irun,31
 123,ShakeM,kreg_step_motor_iholddelay,10
-124,ShakeM,kreg_step_motor_iglobalscaler,0
+124,ShakeM,kreg_step_motor_iglobalscaler,64
 125,ShakeM,kreg_step_motor_mres,0
 126,ShakeM,kreg_step_motor_run_to_zero_speed,100
 127,ShakeM,kreg_step_motor_look_zero_edge_speed,100
 128,ShakeM,kreg_step_motor_max_d,0
 129,ShakeM,kreg_step_motor_min_d,0
 130,ShakeM,kreg_step_motor_in_debug_mode,0
-131,ShakeM,kreg_step_motor_vstart,100
-132,ShakeM,kreg_step_motor_a1,50
-133,ShakeM,kreg_step_motor_amax,100
-134,ShakeM,kreg_step_motor_v1,300
-135,ShakeM,kreg_step_motor_dmax,100
-136,ShakeM,kreg_step_motor_d1,50
-137,ShakeM,kreg_step_motor_vstop,100
+131,ShakeM,kreg_step_motor_vstart,50
+132,ShakeM,kreg_step_motor_a1,10
+133,ShakeM,kreg_step_motor_amax,15
+134,ShakeM,kreg_step_motor_v1,150
+135,ShakeM,kreg_step_motor_dmax,15
+136,ShakeM,kreg_step_motor_d1,10
+137,ShakeM,kreg_step_motor_vstop,50
 138,ShakeM,kreg_step_motor_tzerowait,0
 139,ShakeM,kreg_step_motor_enc_resolution,0
 140,ShakeM,kreg_step_motor_enable_enc,0
@@ -145,27 +144,27 @@ 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,500
+147,CapStorageM,kreg_step_motor_default_velocity,200
 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,20
+152,CapStorageM,kreg_step_motor_irun,31
 153,CapStorageM,kreg_step_motor_iholddelay,10
-154,CapStorageM,kreg_step_motor_iglobalscaler,0
+154,CapStorageM,kreg_step_motor_iglobalscaler,128
 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
 158,CapStorageM,kreg_step_motor_max_d,0
 159,CapStorageM,kreg_step_motor_min_d,0
 160,CapStorageM,kreg_step_motor_in_debug_mode,0
-161,CapStorageM,kreg_step_motor_vstart,100
+161,CapStorageM,kreg_step_motor_vstart,10
 162,CapStorageM,kreg_step_motor_a1,50
-163,CapStorageM,kreg_step_motor_amax,100
-164,CapStorageM,kreg_step_motor_v1,300
-165,CapStorageM,kreg_step_motor_dmax,100
+163,CapStorageM,kreg_step_motor_amax,50
+164,CapStorageM,kreg_step_motor_v1,100
+165,CapStorageM,kreg_step_motor_dmax,50
 166,CapStorageM,kreg_step_motor_d1,50
-167,CapStorageM,kreg_step_motor_vstop,100
+167,CapStorageM,kreg_step_motor_vstop,10
 168,CapStorageM,kreg_step_motor_tzerowait,0
 169,CapStorageM,kreg_step_motor_enc_resolution,0
 170,CapStorageM,kreg_step_motor_enable_enc,0
@@ -244,7 +243,7 @@ id,mid,regIndex,regInitVal
 243,HBotZM,kreg_step_motor_iholddelay,10
 244,HBotZM,kreg_step_motor_iglobalscaler,0
 245,HBotZM,kreg_step_motor_mres,0
-246,HBotZM,kreg_step_motor_run_to_zero_speed,100
+246,HBotZM,kreg_step_motor_run_to_zero_speed,200
 247,HBotZM,kreg_step_motor_look_zero_edge_speed,100
 248,HBotZM,kreg_step_motor_max_d,0
 249,HBotZM,kreg_step_motor_min_d,0
@@ -265,7 +264,7 @@ id,mid,regIndex,regInitVal
 264,Heater1M,kreg_step_motor_shaft,1
 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
+267,Heater1M,kreg_step_motor_default_velocity,800
 268,Heater1M,kreg_step_motor_low_velocity,0
 269,Heater1M,kreg_step_motor_mid_velocity,0
 270,Heater1M,kreg_step_motor_high_velocity,0
@@ -682,3 +681,11 @@ id,mid,regIndex,regInitVal
 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
+684,MainXSV,kreg_leisai_servo_default_velocity,1500
+685,MainXSV,kreg_leisai_servo_low_velocity,1500
+686,MainXSV,kreg_leisai_servo_mid_velocity,1500
+687,MainXSV,kreg_leisai_servo_high_velocity,1500
+688,MainYSV,kreg_leisai_servo_default_velocity,1500
+689,MainYSV,kreg_leisai_servo_low_velocity,1500
+690,MainYSV,kreg_leisai_servo_mid_velocity,1500
+691,MainYSV,kreg_leisai_servo_high_velocity,1500