From ba9a26edc8d9b8b8ce8450fbb6db8bf0d402f8ae Mon Sep 17 00:00:00 2001
From: HSZ_HeSongZhen <210202959@qq.com>
Date: Sun, 11 May 2025 22:51:59 +0800
Subject: [PATCH] =?UTF-8?q?add:=20=E5=8A=A0=E6=B6=B2=E8=87=82=E6=8E=A5?=
 =?UTF-8?q?=E5=8F=A3=E6=B3=A8=E9=87=8A?=
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---
 .../hardware/type/LiquidDistributionArmDriver.java  | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/main/java/com/iflytop/gd/hardware/type/LiquidDistributionArmDriver.java b/src/main/java/com/iflytop/gd/hardware/type/LiquidDistributionArmDriver.java
index c54d2b8..582c830 100644
--- a/src/main/java/com/iflytop/gd/hardware/type/LiquidDistributionArmDriver.java
+++ b/src/main/java/com/iflytop/gd/hardware/type/LiquidDistributionArmDriver.java
@@ -9,22 +9,38 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
+/**
+ * 加液臂接口
+ */
 @Component
 @Slf4j
 @RequiredArgsConstructor
 public class LiquidDistributionArmDriver {
     final private A8kCanBusService canBus;
 
+    /**
+     * 使能
+     * @param id
+     * @param enable
+     * @throws HardwareException
+     */
     public void liquidDistributionArmEnable(LiquidArmMId id, int enable) throws HardwareException {
         log.info("liquidDistributionArmEnable called with id: {}, enable: {}", id, enable);
         canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_enable, enable);
     }
 
+    /**
+     * 移动到指定试管架
+     * @param id
+     * @param index
+     * @throws HardwareException
+     */
     public void liquidDistributionArmMoveTo(LiquidArmMId id, int index) throws HardwareException {
         log.info("liquidDistributionArmMoveTo called with id: {}, index: {}", id, index);
         canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_move_to, index);
     }
 
+
     public int liquidDistributionReadPos(LiquidArmMId id) throws HardwareException {
         log.info("liquidDistributionReadPos called with id: {}", id);
         var packet = canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_read_pos);
@@ -41,6 +57,11 @@ public class LiquidDistributionArmDriver {
         canBus.callcmd(id.mid, CmdId.liquid_distribution_arm_set_cur_pos_as_mid_pos);
     }
 
+    /**
+     * 停止
+     * @param id
+     * @throws HardwareException
+     */
     public void moduleStop(LiquidArmMId id) throws HardwareException {
         log.info("moduleStop called with id: {}", id);
         canBus.moduleStop(id.mid);