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add: 修复 Hbot X 轴 无法移动

master
HSZ_HeSongZhen 3 months ago
parent
commit
e7ca9cc2fd
  1. 2
      src/main/java/com/iflytop/gd/hardware/command/handlers/FillLightHandler.java
  2. 4
      src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java

2
src/main/java/com/iflytop/gd/hardware/command/handlers/FillLightHandler.java

@ -2,11 +2,9 @@ package com.iflytop.gd.hardware.command.handlers;
import com.iflytop.gd.common.cmd.DeviceCommand;
import com.iflytop.gd.common.enums.cmd.CmdAction;
import com.iflytop.gd.common.enums.cmd.CmdColor;
import com.iflytop.gd.common.enums.cmd.CmdDevice;
import com.iflytop.gd.hardware.command.CommandHandler;
import com.iflytop.gd.hardware.drivers.FillLightDriver;
import com.iflytop.gd.hardware.drivers.TricolorLightDriver;
import com.iflytop.gd.hardware.type.MId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;

4
src/main/java/com/iflytop/gd/hardware/command/handlers/HBotHandler.java

@ -40,8 +40,8 @@ public class HBotHandler extends CommandHandler {
private final Map<CmdDevice, LeisaiServoMId> leisaiServoMIdMap = Map.ofEntries(
Map.entry(CmdDevice.gantry_y, LeisaiServoMId.MainXSV),
Map.entry(CmdDevice.gantry_z, LeisaiServoMId.MainYSV)
Map.entry(CmdDevice.gantry_x, LeisaiServoMId.MainXSV),
Map.entry(CmdDevice.gantry_y, LeisaiServoMId.MainYSV)
);
private final Map<CmdDevice, MId> supportCmdDeviceMIdMap = stepMotorMIdMap_.entrySet().stream().
collect(Collectors.toMap(Map.Entry::getKey, entry -> entry.getValue().mid));

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