diff --git a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java b/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java
index e801ddc..8ffd699 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/DoorCloseCommand.java
@@ -7,7 +7,6 @@ import com.iflytop.gd.app.service.DevicePositionService;
 import com.iflytop.gd.app.service.DeviceStateService;
 import com.iflytop.gd.common.annotation.CommandMapping;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
-import com.iflytop.gd.hardware.service.GDDeviceStatusService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
diff --git a/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java
index 5297e22..2686851 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/DualRobotJointOriginCommand.java
@@ -29,11 +29,11 @@ public class DualRobotJointOriginCommand extends BaseCommandHandler {
         Boolean joint2 = cmdDTO.getBooleanParam("joint1");
         return runAsync(() -> {
 
-            if(joint1){
+            if (joint1) {
                 deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint1);
                 selfTestService.getSelfTestState().setDualRobotJoint1Origin(true);
             }
-            if(joint2){
+            if (joint2) {
                 deviceCommandUtilService.dualRobotOrigin(cmdDTO.getCommandId(), cmdDTO.getCommand(), CmdAxis.joint2);
                 selfTestService.getSelfTestState().setDualRobotJoint2Origin(true);
             }
diff --git a/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java b/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java
index b0c7f89..5ce0db4 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/GantryXOriginCommand.java
@@ -3,19 +3,12 @@ package com.iflytop.gd.app.cmd;
 import com.iflytop.gd.app.core.BaseCommandHandler;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
-import com.iflytop.gd.app.service.DevicePositionService;
 import com.iflytop.gd.app.service.SelfTestService;
 import com.iflytop.gd.common.annotation.CommandMapping;
-import com.iflytop.gd.common.cmd.CommandFuture;
-import com.iflytop.gd.common.cmd.DeviceCommandBundle;
-import com.iflytop.gd.common.cmd.DeviceCommandGenerator;
-import com.iflytop.gd.common.enums.data.DevicePositionCode;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
-import java.util.ArrayList;
-import java.util.List;
 import java.util.concurrent.CompletableFuture;
 
 /**
diff --git a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java
index 07f9d6c..ffa7641 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/MoveToHeatAreaCommand.java
@@ -63,7 +63,7 @@ public class MoveToHeatAreaCommand extends BaseCommandHandler {
             deviceCommandUtilService.clawMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), clawCapGrip);//将夹爪收紧
             double capSafetyHeight = devicePositionService.getPosition(DevicePositionCode.capSafetyHeight).getDistance();//获取移动拍子的安全高度
             deviceCommandUtilService.gantryZMoveBy(cmdDTO.getCommandId(), cmdDTO.getCommand(), -capSafetyHeight);//机械臂提升至移动拍子的安全高度
-            deviceCommandUtilService.capMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), 1); //提升拍子存放区1个位置
+            deviceCommandUtilService.capUpBalance(cmdDTO.getCommandId(), cmdDTO.getCommand()); //提升拍子存放区
             Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
             Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度
             deviceCommandUtilService.gantryMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatAreaCapClawSafetyHeightPoint3D);//将机械臂移动至拍子上方加上移动拍子的安全高度
diff --git a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java b/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java
index 7a7a050..35a6c40 100644
--- a/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java
+++ b/src/main/java/com/iflytop/gd/app/cmd/SolutionAddCommand.java
@@ -3,7 +3,6 @@ package com.iflytop.gd.app.cmd;
 import cn.hutool.json.JSONArray;
 import cn.hutool.json.JSONObject;
 import com.iflytop.gd.app.core.BaseCommandHandler;
-import com.iflytop.gd.app.model.bo.Point2D;
 import com.iflytop.gd.app.model.dto.CmdDTO;
 import com.iflytop.gd.app.service.ContainerService;
 import com.iflytop.gd.app.service.DeviceCommandUtilService;
diff --git a/src/main/java/com/iflytop/gd/app/controller/DevicePointController.java b/src/main/java/com/iflytop/gd/app/controller/DevicePointController.java
index 90a1d2d..d537955 100644
--- a/src/main/java/com/iflytop/gd/app/controller/DevicePointController.java
+++ b/src/main/java/com/iflytop/gd/app/controller/DevicePointController.java
@@ -13,7 +13,6 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.web.bind.annotation.*;
 
 import java.util.List;
-import java.util.stream.Collectors;
 
 /**
  * 设备点位接口
diff --git a/src/main/java/com/iflytop/gd/app/controller/HeatModuleController.java b/src/main/java/com/iflytop/gd/app/controller/HeatModuleController.java
index 73f1266..90dd06b 100644
--- a/src/main/java/com/iflytop/gd/app/controller/HeatModuleController.java
+++ b/src/main/java/com/iflytop/gd/app/controller/HeatModuleController.java
@@ -8,7 +8,10 @@ import io.swagger.v3.oas.annotations.tags.Tag;
 import jakarta.validation.Valid;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
-import org.springframework.web.bind.annotation.*;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
 
 /**
  * 加热模块控制
diff --git a/src/main/java/com/iflytop/gd/app/controller/OresController.java b/src/main/java/com/iflytop/gd/app/controller/OresController.java
index c496e68..5ba041c 100644
--- a/src/main/java/com/iflytop/gd/app/controller/OresController.java
+++ b/src/main/java/com/iflytop/gd/app/controller/OresController.java
@@ -3,9 +3,9 @@ package com.iflytop.gd.app.controller;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.app.model.vo.OresCraftsListVO;
+import com.iflytop.gd.app.service.OresService;
 import com.iflytop.gd.common.base.BasePageQuery;
 import com.iflytop.gd.common.result.PageResult;
-import com.iflytop.gd.app.service.OresService;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.common.result.ResultCode;
 import io.swagger.v3.oas.annotations.Operation;
diff --git a/src/main/java/com/iflytop/gd/app/controller/SolutionsController.java b/src/main/java/com/iflytop/gd/app/controller/SolutionsController.java
index e3a1a21..79c3fd6 100644
--- a/src/main/java/com/iflytop/gd/app/controller/SolutionsController.java
+++ b/src/main/java/com/iflytop/gd/app/controller/SolutionsController.java
@@ -4,10 +4,10 @@ import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.iflytop.gd.app.model.entity.Solutions;
 import com.iflytop.gd.app.service.SolutionsService;
+import com.iflytop.gd.common.base.BasePageQuery;
 import com.iflytop.gd.common.result.PageResult;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.common.result.ResultCode;
-import com.iflytop.gd.common.base.BasePageQuery;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.Parameter;
 import io.swagger.v3.oas.annotations.tags.Tag;
diff --git a/src/main/java/com/iflytop/gd/app/controller/TasksController.java b/src/main/java/com/iflytop/gd/app/controller/TasksController.java
index d7eb169..8d58dc5 100644
--- a/src/main/java/com/iflytop/gd/app/controller/TasksController.java
+++ b/src/main/java/com/iflytop/gd/app/controller/TasksController.java
@@ -68,7 +68,7 @@ public class TasksController {
     @Operation(summary = "停止实验")
     @PostMapping("/stop")
     public Result<Integer> stopTask(@RequestBody StopTaskDTO dto) {
-        if(dto.getTaskId() != null) {
+        if (dto.getTaskId() != null) {
             return Result.success(tasksService.stopTask(dto.getTaskId()));
         }
         return Result.failed("停止实验失败");
diff --git a/src/main/java/com/iflytop/gd/app/controller/TrayController.java b/src/main/java/com/iflytop/gd/app/controller/TrayController.java
index 6deb9d7..310996e 100644
--- a/src/main/java/com/iflytop/gd/app/controller/TrayController.java
+++ b/src/main/java/com/iflytop/gd/app/controller/TrayController.java
@@ -1,8 +1,6 @@
 package com.iflytop.gd.app.controller;
 
 import com.iflytop.gd.app.core.device.TrayState;
-import com.iflytop.gd.app.core.device.TubeState;
-import com.iflytop.gd.app.model.entity.User;
 import com.iflytop.gd.app.model.vo.SetTrayTubeVO;
 import com.iflytop.gd.app.service.TrayService;
 import com.iflytop.gd.common.result.Result;
@@ -15,8 +13,6 @@ import org.springframework.web.bind.annotation.RequestBody;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
-import java.util.List;
-
 /**
  * 托盘控制
  */
diff --git a/src/main/java/com/iflytop/gd/app/controller/UserController.java b/src/main/java/com/iflytop/gd/app/controller/UserController.java
index 885ed79..05218fb 100644
--- a/src/main/java/com/iflytop/gd/app/controller/UserController.java
+++ b/src/main/java/com/iflytop/gd/app/controller/UserController.java
@@ -3,12 +3,12 @@ package com.iflytop.gd.app.controller;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.iflytop.gd.app.model.entity.User;
+import com.iflytop.gd.app.service.UserService;
 import com.iflytop.gd.common.base.BasePageQuery;
 import com.iflytop.gd.common.result.PageResult;
 import com.iflytop.gd.common.result.Result;
 import com.iflytop.gd.common.result.ResultCode;
-import com.iflytop.gd.app.model.entity.User;
-import com.iflytop.gd.app.service.UserService;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.Parameter;
 import io.swagger.v3.oas.annotations.tags.Tag;
diff --git a/src/main/java/com/iflytop/gd/app/core/BaseCommandHandler.java b/src/main/java/com/iflytop/gd/app/core/BaseCommandHandler.java
index 3087258..a05ab61 100644
--- a/src/main/java/com/iflytop/gd/app/core/BaseCommandHandler.java
+++ b/src/main/java/com/iflytop/gd/app/core/BaseCommandHandler.java
@@ -1,10 +1,9 @@
 package com.iflytop.gd.app.core;
 
 
-
 import com.iflytop.gd.common.annotation.CheckedRunnable;
-import com.iflytop.gd.common.cmd.CommandHandler;
 import com.iflytop.gd.common.cmd.CommandFuture;
+import com.iflytop.gd.common.cmd.CommandHandler;
 import com.iflytop.gd.common.utils.LambdaUtil;
 
 import java.util.Arrays;
diff --git a/src/main/java/com/iflytop/gd/app/core/device/DeviceState.java b/src/main/java/com/iflytop/gd/app/core/device/DeviceState.java
index fce2c81..0395439 100644
--- a/src/main/java/com/iflytop/gd/app/core/device/DeviceState.java
+++ b/src/main/java/com/iflytop/gd/app/core/device/DeviceState.java
@@ -9,30 +9,22 @@ import java.util.List;
 @Schema(description = "当前设备")
 @Data
 public class DeviceState {
-    @Schema(description = "虚拟模式，true为虚拟")
-    private boolean virtual = false;
-
-    @Schema(description = "初始化状态，true初始化完毕")
-    private boolean initComplete = false;
-
-    @Schema(description = "自检状态，true自检完毕")
-    private boolean selfTest = false;
-
-    @Schema(description = "是否是急停状态，true为急停")
-    private boolean emergencyStop = false;
-
     @Schema(description = "门状态")
     private final DoorState door = new DoorState();
-
     @Schema(description = "龙门架机械臂状态")
     private final GantryArmState gantryArm = new GantryArmState();
-
     @Schema(description = "加液模块属性")
     private final SolutionModuleState solutionModule = new SolutionModuleState();
-
     @Schema(description = "加热模块属性")
     private final List<HeatModuleState> heatModule = new ArrayList<>();
-
     @Schema(description = "托盘")
     private final List<TrayState> tray = new ArrayList<>();
+    @Schema(description = "虚拟模式，true为虚拟")
+    private boolean virtual = false;
+    @Schema(description = "初始化状态，true初始化完毕")
+    private boolean initComplete = false;
+    @Schema(description = "自检状态，true自检完毕")
+    private boolean selfTest = false;
+    @Schema(description = "是否是急停状态，true为急停")
+    private boolean emergencyStop = false;
 }
diff --git a/src/main/java/com/iflytop/gd/app/mapper/SystemConfigMapper.java b/src/main/java/com/iflytop/gd/app/mapper/SystemConfigMapper.java
index a219714..72c06fc 100644
--- a/src/main/java/com/iflytop/gd/app/mapper/SystemConfigMapper.java
+++ b/src/main/java/com/iflytop/gd/app/mapper/SystemConfigMapper.java
@@ -1,7 +1,6 @@
 package com.iflytop.gd.app.mapper;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
-import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.app.model.entity.SystemConfig;
 import org.apache.ibatis.annotations.Mapper;
 
diff --git a/src/main/java/com/iflytop/gd/app/model/bo/Notification.java b/src/main/java/com/iflytop/gd/app/model/bo/Notification.java
index 5504949..06ed49a 100644
--- a/src/main/java/com/iflytop/gd/app/model/bo/Notification.java
+++ b/src/main/java/com/iflytop/gd/app/model/bo/Notification.java
@@ -15,8 +15,8 @@ public class Notification {
     private final String command;
     private final String level;
     private final String title;
-    private String content = null;
     private final String dateTime = DateTime.now().toString("yyyy/MM/dd HH:mm:ss");
+    private String content = null;
 
     private Notification(String commandId, String command, String level, String title, String content) {
         this.commandId = commandId;
@@ -35,6 +35,7 @@ public class Notification {
 
     /**
      * 创建Info级别通知
+     *
      * @param content 通知内容
      * @return 通知实例
      */
@@ -46,7 +47,7 @@ public class Notification {
         return new Notification(commandId, command, "info", title, "");
     }
 
-    public static Notification infoNotification(CmdDTO cmdDTO,  String title) {
+    public static Notification infoNotification(CmdDTO cmdDTO, String title) {
         return new Notification(cmdDTO.getCommandId(), cmdDTO.getCommand(), "info", title, "");
     }
 
@@ -63,6 +64,7 @@ public class Notification {
 
     /**
      * 创建Warn级别通知
+     *
      * @param content 通知内容
      * @return 通知实例
      */
@@ -72,6 +74,7 @@ public class Notification {
 
     /**
      * 创建Error级别通知
+     *
      * @param content 通知内容
      * @return 通知实例
      */
@@ -87,6 +90,7 @@ public class Notification {
 
     /**
      * 创建Fatal级别通知
+     *
      * @param content 通知内容
      * @return 通知实例
      */
diff --git a/src/main/java/com/iflytop/gd/app/model/bo/Point3D.java b/src/main/java/com/iflytop/gd/app/model/bo/Point3D.java
index fc2f6ee..b12b8fd 100644
--- a/src/main/java/com/iflytop/gd/app/model/bo/Point3D.java
+++ b/src/main/java/com/iflytop/gd/app/model/bo/Point3D.java
@@ -11,6 +11,7 @@ public class Point3D {
 
     public Point3D() {
     }
+
     public Point3D(Double x, Double y, Double z) {
         this.x = x;
         this.y = y;
diff --git a/src/main/java/com/iflytop/gd/app/model/dto/CmdDTO.java b/src/main/java/com/iflytop/gd/app/model/dto/CmdDTO.java
index d80569a..e280b11 100644
--- a/src/main/java/com/iflytop/gd/app/model/dto/CmdDTO.java
+++ b/src/main/java/com/iflytop/gd/app/model/dto/CmdDTO.java
@@ -6,7 +6,6 @@ import jakarta.validation.constraints.NotNull;
 import lombok.Data;
 
 import java.util.Map;
-import java.util.Optional;
 
 @Schema(description = "指令")
 @Data
diff --git a/src/main/java/com/iflytop/gd/app/model/dto/LoginDTO.java b/src/main/java/com/iflytop/gd/app/model/dto/LoginDTO.java
index 68a23b3..807cd08 100644
--- a/src/main/java/com/iflytop/gd/app/model/dto/LoginDTO.java
+++ b/src/main/java/com/iflytop/gd/app/model/dto/LoginDTO.java
@@ -1,7 +1,6 @@
 package com.iflytop.gd.app.model.dto;
 
 import io.swagger.v3.oas.annotations.media.Schema;
-import jakarta.validation.constraints.NotBlank;
 import jakarta.validation.constraints.NotNull;
 import lombok.Data;
 
diff --git a/src/main/java/com/iflytop/gd/app/model/dto/PauseCraftsDto.java b/src/main/java/com/iflytop/gd/app/model/dto/PauseCraftsDto.java
index c64e8f4..4518ddd 100644
--- a/src/main/java/com/iflytop/gd/app/model/dto/PauseCraftsDto.java
+++ b/src/main/java/com/iflytop/gd/app/model/dto/PauseCraftsDto.java
@@ -1,7 +1,6 @@
 package com.iflytop.gd.app.model.dto;
 
 import io.swagger.v3.oas.annotations.media.Schema;
-import jakarta.validation.constraints.NotBlank;
 import jakarta.validation.constraints.NotNull;
 import lombok.Data;
 
diff --git a/src/main/java/com/iflytop/gd/app/model/entity/Container.java b/src/main/java/com/iflytop/gd/app/model/entity/Container.java
index 5ca194a..42886bf 100644
--- a/src/main/java/com/iflytop/gd/app/model/entity/Container.java
+++ b/src/main/java/com/iflytop/gd/app/model/entity/Container.java
@@ -3,7 +3,10 @@ package com.iflytop.gd.app.model.entity;
 import com.baomidou.mybatisplus.annotation.TableName;
 import com.iflytop.gd.common.base.BaseEntity;
 import io.swagger.v3.oas.annotations.media.Schema;
-import jakarta.validation.constraints.*;
+import jakarta.validation.constraints.Max;
+import jakarta.validation.constraints.Min;
+import jakarta.validation.constraints.NotNull;
+import jakarta.validation.constraints.Positive;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
 
diff --git a/src/main/java/com/iflytop/gd/app/model/vo/CraftStatusVO.java b/src/main/java/com/iflytop/gd/app/model/vo/CraftStatusVO.java
index b68d1ac..7a2ca23 100644
--- a/src/main/java/com/iflytop/gd/app/model/vo/CraftStatusVO.java
+++ b/src/main/java/com/iflytop/gd/app/model/vo/CraftStatusVO.java
@@ -1,7 +1,7 @@
 package com.iflytop.gd.app.model.vo;
 
-import com.iflytop.gd.common.enums.automaton.CraftStates;
 import com.iflytop.gd.app.model.bo.CraftsStep;
+import com.iflytop.gd.common.enums.automaton.CraftStates;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
diff --git a/src/main/java/com/iflytop/gd/app/model/vo/ModuleIdVO.java b/src/main/java/com/iflytop/gd/app/model/vo/ModuleIdVO.java
index c00b212..7b91c45 100644
--- a/src/main/java/com/iflytop/gd/app/model/vo/ModuleIdVO.java
+++ b/src/main/java/com/iflytop/gd/app/model/vo/ModuleIdVO.java
@@ -1,4 +1,5 @@
 package com.iflytop.gd.app.model.vo;
+
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.AllArgsConstructor;
 import lombok.Data;
diff --git a/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java b/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java
index 2bf19da..5c7fb40 100644
--- a/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java
+++ b/src/main/java/com/iflytop/gd/app/model/vo/SetTrayTubeVO.java
@@ -1,13 +1,9 @@
 package com.iflytop.gd.app.model.vo;
 
 import com.iflytop.gd.app.core.device.TubeState;
-import com.iflytop.gd.app.model.bo.CraftsStep;
-import com.iflytop.gd.common.enums.automaton.CraftStates;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
-import java.util.List;
-
 /**
  * 设置托盘试管
  */
diff --git a/src/main/java/com/iflytop/gd/app/service/CraftsService.java b/src/main/java/com/iflytop/gd/app/service/CraftsService.java
index e99533c..34a6591 100644
--- a/src/main/java/com/iflytop/gd/app/service/CraftsService.java
+++ b/src/main/java/com/iflytop/gd/app/service/CraftsService.java
@@ -2,14 +2,14 @@ package com.iflytop.gd.app.service;
 
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.iflytop.gd.common.enums.automaton.CraftEvents;
-import com.iflytop.gd.common.enums.automaton.CraftStates;
 import com.iflytop.gd.app.core.CraftsContext;
 import com.iflytop.gd.app.mapper.CraftsMapper;
 import com.iflytop.gd.app.model.entity.Crafts;
 import com.iflytop.gd.app.model.entity.Ores;
 import com.iflytop.gd.app.model.vo.CraftStatusVO;
 import com.iflytop.gd.app.model.vo.SetCraftsVO;
+import com.iflytop.gd.common.enums.automaton.CraftEvents;
+import com.iflytop.gd.common.enums.automaton.CraftStates;
 import com.iflytop.gd.common.exception.AppException;
 import com.iflytop.gd.common.result.ResultCode;
 import jakarta.annotation.PostConstruct;
@@ -35,10 +35,9 @@ public class CraftsService extends ServiceImpl<CraftsMapper, Crafts> {
     private final WebSocketService webSocketService;
     private final CraftsStepService craftsStepService;
     private final OresService oresService;
-
-    private ExecutorService executor;
     private final ConcurrentHashMap<String, CraftsContext> contextMap = new ConcurrentHashMap<>();
     private final ConcurrentHashMap<String, Future<?>> futureMap = new ConcurrentHashMap<>();
+    private ExecutorService executor;
 
     @PostConstruct
     public void init() {
diff --git a/src/main/java/com/iflytop/gd/app/service/CraftsStepService.java b/src/main/java/com/iflytop/gd/app/service/CraftsStepService.java
index e5610fb..32dbc6f 100644
--- a/src/main/java/com/iflytop/gd/app/service/CraftsStepService.java
+++ b/src/main/java/com/iflytop/gd/app/service/CraftsStepService.java
@@ -4,7 +4,6 @@ import cn.hutool.json.JSONArray;
 import cn.hutool.json.JSONObject;
 import com.iflytop.gd.app.core.CraftsDebugGenerator;
 import com.iflytop.gd.app.model.bo.CraftsStep;
-import com.iflytop.gd.app.model.bo.Point2D;
 import com.iflytop.gd.app.model.bo.Point3D;
 import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
@@ -195,8 +194,8 @@ 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
-        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "提升拍子存放区1个位置", null));
-        deviceCommandUtilService.capMotorMove(1); //提升拍子存放区1个位置
+        webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "提升拍子存放区", null));
+        deviceCommandUtilService.capUpBalance(); //提升拍子存放区
         Point3D heatAreaCapClawPoint3D = deviceCommandUtilService.getHeatAreaCapClawPointPoint3D(heatModuleId);//获取托盘上方拍子点位
         Point3D heatAreaCapClawSafetyHeightPoint3D = new Point3D(heatAreaCapClawPoint3D.getX(), heatAreaCapClawPoint3D.getY(), heatAreaCapClawPoint3D.getZ() - capSafetyHeight);//加热区拍子上方加上移动拍子的安全高度
         webSocketService.pushCraftsDebug(CraftsDebugGenerator.generateJson(heatId, "将机械臂移动至拍子上方加上移动拍子的安全高度", heatAreaCapClawSafetyHeightPoint3D));
diff --git a/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java b/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java
index 53745c1..b28050e 100644
--- a/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java
+++ b/src/main/java/com/iflytop/gd/app/service/DeviceCommandService.java
@@ -48,7 +48,7 @@ public class DeviceCommandService {
                 }
             } catch (Exception e) {
                 Thread.currentThread().interrupt();
-            }finally {
+            } finally {
                 deviceStateService.setGantryArmStateIdle(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 70fee8c..9a7574f 100644
--- a/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java
+++ b/src/main/java/com/iflytop/gd/app/service/DeviceCommandUtilService.java
@@ -10,6 +10,8 @@ import com.iflytop.gd.common.enums.AcidPumpDeviceCode;
 import com.iflytop.gd.common.enums.HeatModuleCode;
 import com.iflytop.gd.common.enums.cmd.CmdAxis;
 import com.iflytop.gd.common.enums.data.DevicePositionCode;
+import com.iflytop.gd.hardware.service.GDDeviceStatusService;
+import com.iflytop.gd.hardware.type.IO.InputIOMId;
 import com.iflytop.gd.hardware.type.LiquidDistributionArmDriver;
 import com.iflytop.gd.hardware.type.Servo.LiquidArmMId;
 import lombok.RequiredArgsConstructor;
@@ -25,6 +27,7 @@ public class DeviceCommandUtilService {
     private final DeviceCommandService deviceCommandService;
     private final DevicePositionService devicePositionService;
     private final LiquidDistributionArmDriver liquidDistributionArmDriver;
+    private final GDDeviceStatusService gdDeviceStatusService;
 
     /**
      * 门电机移动
@@ -231,14 +234,38 @@ public class DeviceCommandUtilService {
     }
 
     /**
+     * 将拍子升降区抬升至可以获取的位置
+     */
+    public void capUpBalance() throws Exception {
+        capUpBalance(null, null);
+    }
+
+    /**
+     * 将拍子升降区抬升至可以获取的位置
+     */
+    public void capUpBalance(String cmdId, String cmdCode) throws Exception {
+        int capNum = 0;
+        for (InputIOMId inputIOMId : InputIOMId.values()) {
+            Boolean exist = gdDeviceStatusService.getInputState(inputIOMId);
+            if (exist) {
+                capNum++;
+            }
+        }
+        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
+        double capLiftingHeightSum = (6 - capNum) * capLiftingHeight;
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMove(capLiftingHeightSum);
+        CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
+        commandWait(deviceCommandFuture);
+    }
+
+    /**
      * 调整拍子升降电机位置
      *
      * @param num 1为上升1格，-1为下降1格
      */
     public void capMotorMove(String cmdId, String cmdCode, int num) throws Exception {
-        double capHeight = 0.0; //TODO 每个拍子的高度 从数据库中获取
-        //TODO 获取当前拍子升降电机位置
-        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMove(num * capHeight);
+        double capLiftingHeight = devicePositionService.getPosition(DevicePositionCode.capLiftingHeight).getDistance();
+        DeviceCommandBundle deviceCommand = DeviceCommandGenerator.trayMotorMove(num * capLiftingHeight);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
         commandWait(deviceCommandFuture);
     }
diff --git a/src/main/java/com/iflytop/gd/app/service/DevicePositionService.java b/src/main/java/com/iflytop/gd/app/service/DevicePositionService.java
index a26bf60..d77804e 100644
--- a/src/main/java/com/iflytop/gd/app/service/DevicePositionService.java
+++ b/src/main/java/com/iflytop/gd/app/service/DevicePositionService.java
@@ -22,11 +22,11 @@ import java.util.stream.Collectors;
 public class DevicePositionService extends ServiceImpl<DevicePositionMapper, DevicePosition> {
 
     @PostConstruct
-    private void init(){
+    private void init() {
         for (DevicePositionCode positionCode : DevicePositionCode.values()) {
             System.out.println(positionCode.getName()); // 打印每个枚举常量的name属性
             DevicePosition devicePosition = this.getOne(new LambdaQueryWrapper<DevicePosition>().eq(DevicePosition::getCode, positionCode));
-            if(devicePosition == null){
+            if (devicePosition == null) {
                 devicePosition = new DevicePosition();
                 devicePosition.setCode(positionCode);
                 devicePosition.setName(positionCode.getName());
diff --git a/src/main/java/com/iflytop/gd/app/service/GantryArmService.java b/src/main/java/com/iflytop/gd/app/service/GantryArmService.java
index 62db198..a58a547 100644
--- a/src/main/java/com/iflytop/gd/app/service/GantryArmService.java
+++ b/src/main/java/com/iflytop/gd/app/service/GantryArmService.java
@@ -32,6 +32,7 @@ public class GantryArmService {
             liquidLock.unlock();
         }
     }
+
     /**
      * 锁定加液区
      */
@@ -44,6 +45,7 @@ public class GantryArmService {
             liquidLock.unlock();
         }
     }
+
     /**
      * 释放加液区
      */
diff --git a/src/main/java/com/iflytop/gd/app/service/OresService.java b/src/main/java/com/iflytop/gd/app/service/OresService.java
index 86c9c68..00207b2 100644
--- a/src/main/java/com/iflytop/gd/app/service/OresService.java
+++ b/src/main/java/com/iflytop/gd/app/service/OresService.java
@@ -5,12 +5,12 @@ import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.iflytop.gd.app.model.vo.OresCraftsListVO;
-import com.iflytop.gd.common.base.BasePageQuery;
 import com.iflytop.gd.app.mapper.CraftsMapper;
 import com.iflytop.gd.app.mapper.OresMapper;
 import com.iflytop.gd.app.model.entity.Crafts;
 import com.iflytop.gd.app.model.entity.Ores;
+import com.iflytop.gd.app.model.vo.OresCraftsListVO;
+import com.iflytop.gd.common.base.BasePageQuery;
 import lombok.RequiredArgsConstructor;
 import org.springframework.stereotype.Service;
 
@@ -28,7 +28,7 @@ public class OresService extends ServiceImpl<OresMapper, Ores> {
 
     private final CraftsMapper craftsMapper;
 
-    
+
     public IPage<OresCraftsListVO> getPage(BasePageQuery pageQuery) {
         // 构建分页对象
         Page<Ores> oresPage = new Page<>(pageQuery.getPageNum(), pageQuery.getPageSize());
@@ -77,22 +77,22 @@ public class OresService extends ServiceImpl<OresMapper, Ores> {
 
     }
 
-    
+
     public Ores findByName(String name) {
         return this.getOne(new LambdaQueryWrapper<Ores>().eq(Ores::getName, name));
     }
 
-    
+
     public boolean addOres(Ores ores) {
         return this.save(ores);
     }
 
-    
+
     public boolean updateOres(Ores ores) {
         return this.updateById(ores);
     }
 
-    
+
     public boolean deleteOres(String idsStr) {
         List<Long> ids = Arrays.stream(idsStr.split(","))
                 .map(Long::parseLong)
diff --git a/src/main/java/com/iflytop/gd/app/service/SystemLogService.java b/src/main/java/com/iflytop/gd/app/service/SystemLogService.java
index 02261d0..c4e1309 100644
--- a/src/main/java/com/iflytop/gd/app/service/SystemLogService.java
+++ b/src/main/java/com/iflytop/gd/app/service/SystemLogService.java
@@ -1,16 +1,12 @@
 package com.iflytop.gd.app.service;
 
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.iflytop.gd.app.mapper.SystemConfigMapper;
 import com.iflytop.gd.app.mapper.SystemLogMapper;
-import com.iflytop.gd.app.model.entity.SystemConfig;
 import com.iflytop.gd.app.model.entity.SystemLog;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
-import java.io.BufferedReader;
-import java.io.InputStreamReader;
 import java.util.Arrays;
 import java.util.List;
 import java.util.stream.Collectors;
diff --git a/src/main/java/com/iflytop/gd/app/service/TaskStepsService.java b/src/main/java/com/iflytop/gd/app/service/TaskStepsService.java
index fa2b3df..8cf451d 100644
--- a/src/main/java/com/iflytop/gd/app/service/TaskStepsService.java
+++ b/src/main/java/com/iflytop/gd/app/service/TaskStepsService.java
@@ -13,7 +13,7 @@ import java.util.List;
  */
 @Service
 @RequiredArgsConstructor
-public class TaskStepsService extends ServiceImpl<TaskStepsMapper, TaskSteps>{
+public class TaskStepsService extends ServiceImpl<TaskStepsMapper, TaskSteps> {
     private final TaskStepsMapper taskStepsMapper;
 
     public List<TaskSteps> getTaskStepsByTaskId(Long taskId) {
diff --git a/src/main/java/com/iflytop/gd/app/service/TasksService.java b/src/main/java/com/iflytop/gd/app/service/TasksService.java
index 507939c..bbef049 100644
--- a/src/main/java/com/iflytop/gd/app/service/TasksService.java
+++ b/src/main/java/com/iflytop/gd/app/service/TasksService.java
@@ -24,7 +24,7 @@ import java.util.stream.Collectors;
  */
 @Service
 @RequiredArgsConstructor
-public class TasksService extends ServiceImpl<TasksMapper, Tasks>{
+public class TasksService extends ServiceImpl<TasksMapper, Tasks> {
 
     private final TasksMapper tasksMapper;
     private final UserService userService;
diff --git a/src/main/java/com/iflytop/gd/app/service/UserService.java b/src/main/java/com/iflytop/gd/app/service/UserService.java
index 89a0add..32141f7 100644
--- a/src/main/java/com/iflytop/gd/app/service/UserService.java
+++ b/src/main/java/com/iflytop/gd/app/service/UserService.java
@@ -1,9 +1,9 @@
 package com.iflytop.gd.app.service;
 
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.iflytop.gd.common.enums.data.FixedUser;
 import com.iflytop.gd.app.mapper.UserMapper;
 import com.iflytop.gd.app.model.entity.User;
+import com.iflytop.gd.common.enums.data.FixedUser;
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
diff --git a/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java b/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java
index 21da8bb..6e9ce20 100644
--- a/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java
+++ b/src/main/java/com/iflytop/gd/app/service/scheduled/FetchTemperatureScheduledTask.java
@@ -22,7 +22,7 @@ public class FetchTemperatureScheduledTask {
     @Scheduled(fixedRate = 30000)
     public void fetchTemperature() {
         try {
-            if(!deviceStateService.getDeviceState().isVirtual()){
+            if (!deviceStateService.getDeviceState().isVirtual()) {
                 Double heatModule01Temperature = gdDeviceStatusService.getHeaterRodTemperature(HeaterRodSlavedId.HEATER_ROD1_ID);
                 deviceStateService.setHeatModuleStateTemperature(HeatModuleCode.heat_module_01, heatModule01Temperature);
 
@@ -40,10 +40,10 @@ public class FetchTemperatureScheduledTask {
 
                 Double heatModule06Temperature = gdDeviceStatusService.getHeaterRodTemperature(HeaterRodSlavedId.HEATER_ROD6_ID);
                 deviceStateService.setHeatModuleStateTemperature(HeatModuleCode.heat_module_06, heatModule06Temperature);
-            }else{
+            } else {
                 List<HeatModuleState> heatModuleStateList = deviceStateService.getDeviceState().getHeatModule();
                 for (HeatModuleState heatModuleState : heatModuleStateList) {
-                    if(heatModuleState.isHeating()){
+                    if (heatModuleState.isHeating()) {
                         deviceStateService.setHeatModuleStateTemperature(heatModuleState.getModuleCode(), 999);
                     }
                 }
diff --git a/src/main/java/com/iflytop/gd/common/enums/data/DevicePositionCode.java b/src/main/java/com/iflytop/gd/common/enums/data/DevicePositionCode.java
index a7b0d21..080223e 100644
--- a/src/main/java/com/iflytop/gd/common/enums/data/DevicePositionCode.java
+++ b/src/main/java/com/iflytop/gd/common/enums/data/DevicePositionCode.java
@@ -83,6 +83,11 @@ public enum DevicePositionCode {
      */
     testTubeSafetyHeight(DevicePositionType.DISTANCE, "移动试管安全高度"),
 
+    /**
+     * 拍子升降高度
+     */
+    capLiftingHeight(DevicePositionType.DISTANCE, "拍子升降高度"),
+
     ////////////////////////点
 
     /**