From 84198a715af9ab633803b1f0678c19aa99ea3bde Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=99=BD=E5=87=A4=E5=90=89?= Date: Sun, 23 Mar 2025 14:49:20 +0800 Subject: [PATCH] =?UTF-8?q?fix:=E5=8F=AF=E4=BB=A5=E6=94=AF=E6=8C=81?= =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=8F=82=E6=95=B0=E4=BA=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../ms/app/front/cmd/business/MatrixSprayChangeParam.java | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java index dc87402..76fbb18 100644 --- a/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java +++ b/src/main/java/com/qyft/ms/app/front/cmd/business/MatrixSprayChangeParam.java @@ -51,6 +51,19 @@ public class MatrixSprayChangeParam extends BaseCommandHandler { sprayTask.setChangeSprayParam(motorZHeight, gasPressure, volume, highVoltage, highVoltageValue, movingSpeed); return runAsync(() -> { + //1.速度 + DeviceCommand motorXSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorXSpeedSet(movingSpeed);//x轴电机速度设置 + DeviceCommand motorYSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorYSpeedSet(movingSpeed);//y轴电机速度设置 + DeviceCommand motorZSpeedSetCmdToDeviceCommand = DeviceCommandGenerator.motorZSpeedSet(movingSpeed);//z轴电机速度设置 + CommandFuture motorXSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXSpeedSetCmdToDeviceCommand); + CommandFuture motorYSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYSpeedSetCmdToDeviceCommand); + CommandFuture motorZSpeedSetCmdToDeviceCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZSpeedSetCmdToDeviceCommand); + commandWait(motorXSpeedSetCmdToDeviceCommandFuture, motorYSpeedSetCmdToDeviceCommandFuture, motorZSpeedSetCmdToDeviceCommandFuture); + //2.流速 + DeviceCommand syringePumpVolumeSetCommand = DeviceCommandGenerator.syringePumpVolumeSet(volume);//注射泵流速设置 + CommandFuture syringePumpVolumeSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), syringePumpVolumeSetCommand); + commandWait(syringePumpVolumeSetCommandFuture); + //3.z轴高度 SysSettings slideHeightSysSettings = sysSettingsService.getOne(new LambdaQueryWrapper().eq(SysSettings::getCode, "slide_height")); Double slideHeight = Double.parseDouble(slideHeightSysSettings.getValue());