diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugCapInHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugCapInHeatAreaCommand.java index 827a4bc..a686fd5 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugCapInHeatAreaCommand.java +++ b/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; diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugCapOutHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugCapOutHeatAreaCommand.java index a4cd842..ef7133d 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugCapOutHeatAreaCommand.java +++ b/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; diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugMoveTrayToHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugMoveTrayToHeatAreaCommand.java index 8f23daa..7588dd4 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugMoveTrayToHeatAreaCommand.java +++ b/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; diff --git a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugMoveTrayToSolutionAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/debug/DebugMoveTrayToSolutionAreaCommand.java index c6337cd..28167db 100644 --- a/src/main/java/com/iflytop/gd/app/cmd/debug/DebugMoveTrayToSolutionAreaCommand.java +++ b/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; diff --git a/src/main/java/com/iflytop/gd/app/config/WebSocketServer.java b/src/main/java/com/iflytop/gd/app/config/WebSocketServer.java index 54f2655..a188d69 100644 --- a/src/main/java/com/iflytop/gd/app/config/WebSocketServer.java +++ b/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 diff --git a/src/main/java/com/iflytop/gd/app/controller/SelfTestController.java b/src/main/java/com/iflytop/gd/app/controller/SelfTestController.java index b19d2d4..41566fc 100644 --- a/src/main/java/com/iflytop/gd/app/controller/SelfTestController.java +++ b/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(); } } diff --git a/src/main/java/com/iflytop/gd/app/controller/StepCommandController.java b/src/main/java/com/iflytop/gd/app/controller/StepCommandController.java index 76b8cb8..f524a84 100644 --- a/src/main/java/com/iflytop/gd/app/controller/StepCommandController.java +++ b/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） } diff --git a/src/main/java/com/iflytop/gd/app/core/device/SelfTestState.java b/src/main/java/com/iflytop/gd/app/core/device/SelfTestState.java index d7e9c5a..dc4a4bc 100644 --- a/src/main/java/com/iflytop/gd/app/core/device/SelfTestState.java +++ b/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; diff --git a/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java b/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java index 611062c..3568fb3 100644 --- a/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java +++ b/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 */ diff --git a/src/main/java/com/iflytop/gd/app/service/StepCommandService.java b/src/main/java/com/iflytop/gd/app/service/StepCommandService.java index 231b8e3..3bc2e50 100644 --- a/src/main/java/com/iflytop/gd/app/service/StepCommandService.java +++ b/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); + } } diff --git a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java b/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java index 6ab8a86..fd88864 100644 --- a/src/main/java/com/iflytop/gd/common/cmd/DeviceCommandGenerator.java +++ b/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 diff --git a/src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java b/src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java index 6f4c49e..9eb34dd 100644 --- a/src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java +++ b/src/main/java/com/iflytop/gd/hardware/command/handlers/ShakeMotorHandler.java @@ -29,7 +29,7 @@ public class ShakeMotorHandler extends CommandHandler { private final Map supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream(). collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid)); - private final Set supportActions = Set.of(CmdAction.start, CmdAction.stop, CmdAction.set); + private final Set 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); + } } } 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 1fa8a7b..372d119 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 @@ -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 \ No newline at end of file +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