我也不知道改了什么

src/main/java/com/qyft/ms/app/device/spray/SprayTaskExecutor.java

@@ -119,7 +119,7 @@ public class SprayTaskExecutor {
 //                    commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture);
                     //先移动到玻片位置
                     DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(slideArr[sprayTaskStep.getIndex()][0],20.0);
-                    DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(slideArr[sprayTaskStep.getIndex()][1],20.0);
+                    DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(75.5 - slideArr[sprayTaskStep.getIndex()][1],20.0);
                     CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorXPositionSetCommand);
                     CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), motorYPositionSetCommand);
 
@@ -156,19 +156,16 @@ public class SprayTaskExecutor {
                         List<CommandFuture> commandFutureList = new ArrayList<>();
                         double aXPoint = (double) sprayStepCommands.get(0).getParam().get("position");
                         double aYPoint = (double) sprayStepCommands.get(1).getParam().get("position");
-                        for (DeviceCommand sprayStep : sprayStepCommands) {
-                            if(cacheXPoint != aXPoint){
-                                CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStep);
-                                commandFutureList.add(commandFuture);
-                                cacheXPoint = aXPoint;
-                            }
-                            if(cacheYPoint != aYPoint){
-                                CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStep);
-                                commandFutureList.add(commandFuture);
-                                cacheYPoint = aYPoint;
-                            }
+                        if(cacheXPoint != aXPoint){
+                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStepCommands.get(0));
+                            commandFutureList.add(commandFuture);
+                            cacheXPoint = aXPoint;
+                        }
+                        if(cacheYPoint != aYPoint){
+                            CommandFuture commandFuture = deviceCommandService.sendCommand(sprayTask.getCmdId(), sprayTask.getCmdCode(), sprayStepCommands.get(1));
+                            commandFutureList.add(commandFuture);
+                            cacheYPoint = aYPoint;
                         }
-
                         CommandFuture[] commandFutureArray = commandFutureList.toArray(new CommandFuture[0]);
                         Point2D currentPoint;
                         Point2D nextPoint = null;