现场代码同步

src/main/java/com/iflytop/gd/app/cmd/debug/DebugCapInHeatAreaCommand.java

@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_cap_heat_area")//业务指令注解
+@CommandMapping("debug_cap_heat_area")
 public class DebugCapInHeatAreaCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;

src/main/java/com/iflytop/gd/app/cmd/debug/DebugCapOutHeatAreaCommand.java

@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_cap_out_heat_area")//业务指令注解
+@CommandMapping("debug_cap_out_heat_area")
 public class DebugCapOutHeatAreaCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;

src/main/java/com/iflytop/gd/app/cmd/debug/DebugMoveTrayToHeatAreaCommand.java

@@ -20,7 +20,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_move_tray_to_heat_area")//业务指令注解
+@CommandMapping("debug_move_tray_to_heat_area")
 public class DebugMoveTrayToHeatAreaCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;

src/main/java/com/iflytop/gd/app/cmd/debug/DebugMoveTrayToSolutionAreaCommand.java

@@ -21,7 +21,7 @@ import java.util.concurrent.CompletableFuture;
 @Slf4j
 @Component
 @RequiredArgsConstructor
-@CommandMapping("debug_move_tray_to_solution_area")//业务指令注解
+@CommandMapping("debug_move_tray_to_solution_area")
 public class DebugMoveTrayToSolutionAreaCommand extends BaseCommandHandler {
     private final DeviceCommandUtilService deviceCommandUtilService;
     private final DevicePositionService devicePositionService;

src/main/java/com/iflytop/gd/app/config/WebSocketServer.java

@@ -36,7 +36,7 @@ public class WebSocketServer {
 
     @OnMessage
     public void onMessage(String message, Session session) {
-        log.info("收到消息 sessionId={}，内容：{}", session.getId(), message);
+//        log.info("收到消息 sessionId={}，内容：{}", session.getId(), message);
     }
 
     @OnClose

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

@@ -22,7 +22,7 @@ import org.springframework.web.bind.annotation.RestController;
 public class SelfTestController {
     private final SelfTestService selfTestService;
     private final DeviceStateService deviceStateService;
-    private final DeviceCommandUtilService  deviceCommandUtilService;
+    private final DeviceCommandUtilService deviceCommandUtilService;
 
     @Operation(summary = "获取自检状态")
     @GetMapping("/status")
@@ -34,7 +34,13 @@ public class SelfTestController {
     @PostMapping("/finish")
     public Result<?> selfTestFinish() throws Exception {
         deviceStateService.setSelfTest(true);
-        deviceCommandUtilService.capMotorMove(21);
+        new Thread(() -> {
+            try {
+                deviceCommandUtilService.capMotorMove(21);
+            } catch (Exception e) {
+                log.error("拍子存放区初始化上升失败", e);
+            }
+        }).start();
         return Result.success();
     }
 }

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

@@ -27,6 +27,13 @@ public class StepCommandController {
         return Result.success(point3D.getX() + "," + point3D.getY() + "," + point3D.getZ());
     }
 
+    @Operation(summary = "使能所有电机")
+    @PostMapping("/enable-all")
+    public Result<?> enableAll() throws Exception {
+        stepCommandService.enableAll();
+        return Result.success();
+    }
+
     @Operation(summary = "失能所有电机")
     @PostMapping("/disability-all")
     public Result<?> disabilityAll() throws Exception {
@@ -34,14 +41,13 @@ public class StepCommandController {
         return Result.success();
     }
 
-    @Operation(summary = "使能所有电机")
-    @PostMapping("/enable-all")
-    public Result<?> enableAll() throws Exception {
-        stepCommandService.enableAll();
+    @Operation(summary = "停止所有电机")
+    @PostMapping("/stop-all")
+    public Result<?> stopAll() throws Exception {
+        stepCommandService.stopAll();
         return Result.success();
     }
 
-
     @Operation(summary = "龙门架移至指定坐标")
     @PostMapping("/gantry-to-point3d")
     public Result<?> gantryToTray(Point3D point3D) throws Exception {
@@ -49,5 +55,7 @@ public class StepCommandController {
         return Result.success();
     }
 
+    //移动到指定拍子上方（加热模块、拍子存放）
+    //移动至指定托盘上方（加热模块、加液模块）
 
 }

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

@@ -9,6 +9,9 @@ public class SelfTestState {
     @Schema(description = "门是否在原点")
     private boolean doorOrigin = false;
 
+//    @Schema(description = "摇匀是否在原点")
+//    private boolean shakeOrigin = false;
+
     @Schema(description = "龙门架机械臂x轴是否在原点")
     private boolean gantryXOrigin = false;
 

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

@@ -702,6 +702,23 @@ public class DeviceCommandUtilService {
         commandWait(deviceCommandFuture);
     }
 
+
+    /**
+     * 摇匀回原点
+     */
+    public void shakeOrigin() throws Exception {
+        shakeOrigin(null, null);
+    }
+
+    /**
+     * 摇匀回原点
+     */
+    public void shakeOrigin(String cmdId, String cmdCode) throws Exception {
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.shakeMotorOrigin();
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
     /**
      * 停止摇匀
      */

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

@@ -71,9 +71,28 @@ public class StepCommandService {
         stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_5_MOTOR_MID, 0);
         stepMotorCtrlDriver.stepMotorEnable(StepMotorMId.HEATER_6_MOTOR_MID, 0);
 
-        liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 1);
-        miniServoDriver.miniServoForceEnable(MiniServoMId.CLAW_MID, 1);
-        leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 1);
-        leisaiServoDriver.enable(LeisaiServoMId.MainYSV, 1);
+        liquidDistributionArmDriver.liquidDistributionArmEnable(LiquidArmMId.LiquidDistributionArm, 0);
+        miniServoDriver.miniServoForceEnable(MiniServoMId.CLAW_MID, 0);
+        leisaiServoDriver.enable(LeisaiServoMId.MainXSV, 0);
+        leisaiServoDriver.enable(LeisaiServoMId.MainYSV, 0);
+    }
+
+    public void stopAll() throws Exception {
+        leisaiServoDriver.moduleStop(LeisaiServoMId.MainXSV);
+        leisaiServoDriver.moduleStop(LeisaiServoMId.MainYSV);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HBOT_Z_MOTOR_MID);
+
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.DOOR_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.TRAY_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_1_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_2_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_3_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_4_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_5_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.HEATER_6_MOTOR_MID);
+        stepMotorCtrlDriver.stepMotorStop(StepMotorMId.SHAKE_MOTOR_MID);
+        liquidDistributionArmDriver.moduleStop(LiquidArmMId.LiquidDistributionArm);
+        miniServoDriver.miniServoStop(MiniServoMId.CLAW_MID);
+
     }
 }

src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java

@@ -73,6 +73,13 @@ public class DeviceCommandGenerator {
     }
 
     /**
+     * 摇匀电机 回原点
+     */
+    public static DeviceCommandBundle shakeMotorOrigin() {
+        return controlMotorCmd(CmdDevice.shake_motor, CmdAction.origin, null, "摇匀 回原点");
+    }
+
+    /**
      * 摇匀电机 设置参数
      *
      * @param speed 速度 单位 r/s

src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java

@@ -29,7 +29,7 @@ public class ShakeMotorHandler extends CommandHandler {
     private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
             collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));
 
-    private final Set<CmdAction> supportActions = Set.of(CmdAction.start, CmdAction.stop, CmdAction.set);
+    private final Set<CmdAction> supportActions = Set.of(CmdAction.start, CmdAction.stop, CmdAction.set, CmdAction.origin);
 
 
     @Override
@@ -61,6 +61,9 @@ public class ShakeMotorHandler extends CommandHandler {
             StepMotorDirect direct = StepMotorDirect.FORWARD;
             driver_.startShake(stepMotorMId, direct);
         }
+        else if(command.getAction() == CmdAction.origin){
+            driver_.moveToHome(stepMotorMId);
+        }
     }
 }
 

src/main/resources/init/zapp_sub_module_reg_initial_value.csv

@@ -84,7 +84,7 @@ id,mid,regIndex,regInitVal
 84,DoorM,kreg_step_motor_shaft,0
 85,DoorM,kreg_step_motor_one_circle_pulse,7200
 86,DoorM,kreg_step_motor_one_circle_pulse_denominator,1
-87,DoorM,kreg_step_motor_default_velocity,50
+87,DoorM,kreg_step_motor_default_velocity,30
 88,DoorM,kreg_step_motor_low_velocity,30
 89,DoorM,kreg_step_motor_mid_velocity,30
 90,DoorM,kreg_step_motor_high_velocity,30
@@ -93,7 +93,7 @@ id,mid,regIndex,regInitVal
 93,DoorM,kreg_step_motor_iholddelay,10
 94,DoorM,kreg_step_motor_iglobalscaler,72
 95,DoorM,kreg_step_motor_mres,0
-96,DoorM,kreg_step_motor_run_to_zero_speed,40
+96,DoorM,kreg_step_motor_run_to_zero_speed,10
 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
@@ -118,7 +118,7 @@ id,mid,regIndex,regInitVal
 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,8
+121,ShakeM,kreg_step_motor_ihold,6
 122,ShakeM,kreg_step_motor_irun,8
 123,ShakeM,kreg_step_motor_iholddelay,10
 124,ShakeM,kreg_step_motor_iglobalscaler,0
@@ -144,16 +144,16 @@ id,mid,regIndex,regInitVal
 144,CapStorageM,kreg_step_motor_shaft,1
 145,CapStorageM,kreg_step_motor_one_circle_pulse,225
 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,300
 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,12
 153,CapStorageM,kreg_step_motor_iholddelay,10
 154,CapStorageM,kreg_step_motor_iglobalscaler,0
 155,CapStorageM,kreg_step_motor_mres,0
-156,CapStorageM,kreg_step_motor_run_to_zero_speed,400
+156,CapStorageM,kreg_step_motor_run_to_zero_speed,200
 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
@@ -444,27 +444,27 @@ id,mid,regIndex,regInitVal
 444,AcidPump1M,kreg_step_motor_shaft,1
 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,250
+447,AcidPump1M,kreg_step_motor_default_velocity,300
 448,AcidPump1M,kreg_step_motor_low_velocity,0
 449,AcidPump1M,kreg_step_motor_mid_velocity,0
 450,AcidPump1M,kreg_step_motor_high_velocity,0
-451,AcidPump1M,kreg_step_motor_ihold,0
-452,AcidPump1M,kreg_step_motor_irun,5
+451,AcidPump1M,kreg_step_motor_ihold,1
+452,AcidPump1M,kreg_step_motor_irun,20
 453,AcidPump1M,kreg_step_motor_iholddelay,10
-454,AcidPump1M,kreg_step_motor_iglobalscaler,81
-455,AcidPump1M,kreg_step_motor_mres,3
+454,AcidPump1M,kreg_step_motor_iglobalscaler,33
+455,AcidPump1M,kreg_step_motor_mres,0
 456,AcidPump1M,kreg_step_motor_run_to_zero_speed,100
 457,AcidPump1M,kreg_step_motor_look_zero_edge_speed,100
 458,AcidPump1M,kreg_step_motor_max_d,0
 459,AcidPump1M,kreg_step_motor_min_d,0
 460,AcidPump1M,kreg_step_motor_in_debug_mode,0
-461,AcidPump1M,kreg_step_motor_vstart,10
-462,AcidPump1M,kreg_step_motor_a1,25
-463,AcidPump1M,kreg_step_motor_amax,50
+461,AcidPump1M,kreg_step_motor_vstart,200
+462,AcidPump1M,kreg_step_motor_a1,300
+463,AcidPump1M,kreg_step_motor_amax,300
 464,AcidPump1M,kreg_step_motor_v1,100
-465,AcidPump1M,kreg_step_motor_dmax,50
-466,AcidPump1M,kreg_step_motor_d1,25
-467,AcidPump1M,kreg_step_motor_vstop,10
+465,AcidPump1M,kreg_step_motor_dmax,300
+466,AcidPump1M,kreg_step_motor_d1,300
+467,AcidPump1M,kreg_step_motor_vstop,200
 468,AcidPump1M,kreg_step_motor_tzerowait,0
 469,AcidPump1M,kreg_step_motor_enc_resolution,0
 470,AcidPump1M,kreg_step_motor_enable_enc,0
@@ -474,27 +474,27 @@ id,mid,regIndex,regInitVal
 474,AcidPump2M,kreg_step_motor_shaft,1
 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,250
+477,AcidPump2M,kreg_step_motor_default_velocity,300
 478,AcidPump2M,kreg_step_motor_low_velocity,0
 479,AcidPump2M,kreg_step_motor_mid_velocity,0
 480,AcidPump2M,kreg_step_motor_high_velocity,0
-481,AcidPump2M,kreg_step_motor_ihold,0
-482,AcidPump2M,kreg_step_motor_irun,5
+481,AcidPump2M,kreg_step_motor_ihold,1
+482,AcidPump2M,kreg_step_motor_irun,20
 483,AcidPump2M,kreg_step_motor_iholddelay,10
-484,AcidPump2M,kreg_step_motor_iglobalscaler,81
-485,AcidPump2M,kreg_step_motor_mres,3
+484,AcidPump2M,kreg_step_motor_iglobalscaler,33
+485,AcidPump2M,kreg_step_motor_mres,0
 486,AcidPump2M,kreg_step_motor_run_to_zero_speed,100
 487,AcidPump2M,kreg_step_motor_look_zero_edge_speed,100
 488,AcidPump2M,kreg_step_motor_max_d,0
 489,AcidPump2M,kreg_step_motor_min_d,0
 490,AcidPump2M,kreg_step_motor_in_debug_mode,0
-491,AcidPump2M,kreg_step_motor_vstart,10
-492,AcidPump2M,kreg_step_motor_a1,25
-493,AcidPump2M,kreg_step_motor_amax,50
+491,AcidPump2M,kreg_step_motor_vstart,200
+492,AcidPump2M,kreg_step_motor_a1,300
+493,AcidPump2M,kreg_step_motor_amax,300
 494,AcidPump2M,kreg_step_motor_v1,100
-495,AcidPump2M,kreg_step_motor_dmax,50
-496,AcidPump2M,kreg_step_motor_d1,25
-497,AcidPump2M,kreg_step_motor_vstop,10
+495,AcidPump2M,kreg_step_motor_dmax,300
+496,AcidPump2M,kreg_step_motor_d1,300
+497,AcidPump2M,kreg_step_motor_vstop,200
 498,AcidPump2M,kreg_step_motor_tzerowait,0
 499,AcidPump2M,kreg_step_motor_enc_resolution,0
 500,AcidPump2M,kreg_step_motor_enable_enc,0
@@ -504,27 +504,27 @@ id,mid,regIndex,regInitVal
 504,AcidPump3M,kreg_step_motor_shaft,1
 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,250
+507,AcidPump3M,kreg_step_motor_default_velocity,300
 508,AcidPump3M,kreg_step_motor_low_velocity,0
 509,AcidPump3M,kreg_step_motor_mid_velocity,0
 510,AcidPump3M,kreg_step_motor_high_velocity,0
-511,AcidPump3M,kreg_step_motor_ihold,0
-512,AcidPump3M,kreg_step_motor_irun,5
+511,AcidPump3M,kreg_step_motor_ihold,1
+512,AcidPump3M,kreg_step_motor_irun,20
 513,AcidPump3M,kreg_step_motor_iholddelay,10
-514,AcidPump3M,kreg_step_motor_iglobalscaler,81
-515,AcidPump3M,kreg_step_motor_mres,3
+514,AcidPump3M,kreg_step_motor_iglobalscaler,33
+515,AcidPump3M,kreg_step_motor_mres,0
 516,AcidPump3M,kreg_step_motor_run_to_zero_speed,100
 517,AcidPump3M,kreg_step_motor_look_zero_edge_speed,100
 518,AcidPump3M,kreg_step_motor_max_d,0
 519,AcidPump3M,kreg_step_motor_min_d,0
 520,AcidPump3M,kreg_step_motor_in_debug_mode,0
-521,AcidPump3M,kreg_step_motor_vstart,10
-522,AcidPump3M,kreg_step_motor_a1,25
-523,AcidPump3M,kreg_step_motor_amax,50
+521,AcidPump3M,kreg_step_motor_vstart,200
+522,AcidPump3M,kreg_step_motor_a1,300
+523,AcidPump3M,kreg_step_motor_amax,300
 524,AcidPump3M,kreg_step_motor_v1,100
-525,AcidPump3M,kreg_step_motor_dmax,50
-526,AcidPump3M,kreg_step_motor_d1,25
-527,AcidPump3M,kreg_step_motor_vstop,10
+525,AcidPump3M,kreg_step_motor_dmax,300
+526,AcidPump3M,kreg_step_motor_d1,300
+527,AcidPump3M,kreg_step_motor_vstop,200
 528,AcidPump3M,kreg_step_motor_tzerowait,0
 529,AcidPump3M,kreg_step_motor_enc_resolution,0
 530,AcidPump3M,kreg_step_motor_enable_enc,0
@@ -534,27 +534,27 @@ id,mid,regIndex,regInitVal
 534,AcidPump4M,kreg_step_motor_shaft,1
 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,250
+537,AcidPump4M,kreg_step_motor_default_velocity,300
 538,AcidPump4M,kreg_step_motor_low_velocity,0
 539,AcidPump4M,kreg_step_motor_mid_velocity,0
 540,AcidPump4M,kreg_step_motor_high_velocity,0
-541,AcidPump4M,kreg_step_motor_ihold,0
-542,AcidPump4M,kreg_step_motor_irun,5
+541,AcidPump4M,kreg_step_motor_ihold,1
+542,AcidPump4M,kreg_step_motor_irun,20
 543,AcidPump4M,kreg_step_motor_iholddelay,10
-544,AcidPump4M,kreg_step_motor_iglobalscaler,81
-545,AcidPump4M,kreg_step_motor_mres,3
+544,AcidPump4M,kreg_step_motor_iglobalscaler,33
+545,AcidPump4M,kreg_step_motor_mres,0
 546,AcidPump4M,kreg_step_motor_run_to_zero_speed,100
 547,AcidPump4M,kreg_step_motor_look_zero_edge_speed,100
 548,AcidPump4M,kreg_step_motor_max_d,0
 549,AcidPump4M,kreg_step_motor_min_d,0
 550,AcidPump4M,kreg_step_motor_in_debug_mode,0
-551,AcidPump4M,kreg_step_motor_vstart,10
-552,AcidPump4M,kreg_step_motor_a1,25
-553,AcidPump4M,kreg_step_motor_amax,50
+551,AcidPump4M,kreg_step_motor_vstart,200
+552,AcidPump4M,kreg_step_motor_a1,300
+553,AcidPump4M,kreg_step_motor_amax,300
 554,AcidPump4M,kreg_step_motor_v1,100
-555,AcidPump4M,kreg_step_motor_dmax,50
-556,AcidPump4M,kreg_step_motor_d1,25
-557,AcidPump4M,kreg_step_motor_vstop,10
+555,AcidPump4M,kreg_step_motor_dmax,300
+556,AcidPump4M,kreg_step_motor_d1,300
+557,AcidPump4M,kreg_step_motor_vstop,200
 558,AcidPump4M,kreg_step_motor_tzerowait,0
 559,AcidPump4M,kreg_step_motor_enc_resolution,0
 560,AcidPump4M,kreg_step_motor_enable_enc,0
@@ -564,27 +564,27 @@ id,mid,regIndex,regInitVal
 564,AcidPump5M,kreg_step_motor_shaft,1
 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,250
+567,AcidPump5M,kreg_step_motor_default_velocity,300
 568,AcidPump5M,kreg_step_motor_low_velocity,0
 569,AcidPump5M,kreg_step_motor_mid_velocity,0
 570,AcidPump5M,kreg_step_motor_high_velocity,0
-571,AcidPump5M,kreg_step_motor_ihold,0
-572,AcidPump5M,kreg_step_motor_irun,5
+571,AcidPump5M,kreg_step_motor_ihold,1
+572,AcidPump5M,kreg_step_motor_irun,20
 573,AcidPump5M,kreg_step_motor_iholddelay,10
-574,AcidPump5M,kreg_step_motor_iglobalscaler,81
-575,AcidPump5M,kreg_step_motor_mres,3
+574,AcidPump5M,kreg_step_motor_iglobalscaler,33
+575,AcidPump5M,kreg_step_motor_mres,0
 576,AcidPump5M,kreg_step_motor_run_to_zero_speed,100
 577,AcidPump5M,kreg_step_motor_look_zero_edge_speed,100
 578,AcidPump5M,kreg_step_motor_max_d,0
 579,AcidPump5M,kreg_step_motor_min_d,0
 580,AcidPump5M,kreg_step_motor_in_debug_mode,0
-581,AcidPump5M,kreg_step_motor_vstart,10
-582,AcidPump5M,kreg_step_motor_a1,25
-583,AcidPump5M,kreg_step_motor_amax,50
+581,AcidPump5M,kreg_step_motor_vstart,200
+582,AcidPump5M,kreg_step_motor_a1,300
+583,AcidPump5M,kreg_step_motor_amax,300
 584,AcidPump5M,kreg_step_motor_v1,100
-585,AcidPump5M,kreg_step_motor_dmax,50
-586,AcidPump5M,kreg_step_motor_d1,25
-587,AcidPump5M,kreg_step_motor_vstop,10
+585,AcidPump5M,kreg_step_motor_dmax,300
+586,AcidPump5M,kreg_step_motor_d1,300
+587,AcidPump5M,kreg_step_motor_vstop,200
 588,AcidPump5M,kreg_step_motor_tzerowait,0
 589,AcidPump5M,kreg_step_motor_enc_resolution,0
 590,AcidPump5M,kreg_step_motor_enable_enc,0
@@ -594,27 +594,27 @@ id,mid,regIndex,regInitVal
 594,AcidPump6M,kreg_step_motor_shaft,1
 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,250
+597,AcidPump6M,kreg_step_motor_default_velocity,300
 598,AcidPump6M,kreg_step_motor_low_velocity,0
 599,AcidPump6M,kreg_step_motor_mid_velocity,0
 600,AcidPump6M,kreg_step_motor_high_velocity,0
-601,AcidPump6M,kreg_step_motor_ihold,0
-602,AcidPump6M,kreg_step_motor_irun,5
+601,AcidPump6M,kreg_step_motor_ihold,1
+602,AcidPump6M,kreg_step_motor_irun,20
 603,AcidPump6M,kreg_step_motor_iholddelay,10
-604,AcidPump6M,kreg_step_motor_iglobalscaler,81
-605,AcidPump6M,kreg_step_motor_mres,3
+604,AcidPump6M,kreg_step_motor_iglobalscaler,33
+605,AcidPump6M,kreg_step_motor_mres,0
 606,AcidPump6M,kreg_step_motor_run_to_zero_speed,100
 607,AcidPump6M,kreg_step_motor_look_zero_edge_speed,100
 608,AcidPump6M,kreg_step_motor_max_d,0
 609,AcidPump6M,kreg_step_motor_min_d,0
 610,AcidPump6M,kreg_step_motor_in_debug_mode,0
-611,AcidPump6M,kreg_step_motor_vstart,10
-612,AcidPump6M,kreg_step_motor_a1,25
-613,AcidPump6M,kreg_step_motor_amax,50
+611,AcidPump6M,kreg_step_motor_vstart,200
+612,AcidPump6M,kreg_step_motor_a1,300
+613,AcidPump6M,kreg_step_motor_amax,300
 614,AcidPump6M,kreg_step_motor_v1,100
-615,AcidPump6M,kreg_step_motor_dmax,50
-616,AcidPump6M,kreg_step_motor_d1,25
-617,AcidPump6M,kreg_step_motor_vstop,10
+615,AcidPump6M,kreg_step_motor_dmax,300
+616,AcidPump6M,kreg_step_motor_d1,300
+617,AcidPump6M,kreg_step_motor_vstop,200
 618,AcidPump6M,kreg_step_motor_tzerowait,0
 619,AcidPump6M,kreg_step_motor_enc_resolution,0
 620,AcidPump6M,kreg_step_motor_enable_enc,0
@@ -685,7 +685,7 @@ id,mid,regIndex,regInitVal
 685,MainXSV,kreg_leisai_servo_low_velocity,2500
 686,MainXSV,kreg_leisai_servo_mid_velocity,2500
 687,MainXSV,kreg_leisai_servo_high_velocity,2500
-688,MainYSV,kreg_leisai_servo_default_velocity,2500
-689,MainYSV,kreg_leisai_servo_low_velocity,2500
-690,MainYSV,kreg_leisai_servo_mid_velocity,2500
-691,MainYSV,kreg_leisai_servo_high_velocity,2500
+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