fix:调整自检运动速度

src/main/java/com/qyft/ms/app/front/cmd/test/MoveTestCommand.java → src/main/java/com/qyft/ms/app/front/cmd/business/MoveTestCommand.java

@@ -1,4 +1,4 @@
-package com.qyft.ms.app.front.cmd.test;
+package com.qyft.ms.app.front.cmd.business;
 
 import com.qyft.ms.app.core.SelfMoveTestGenerator;
 import com.qyft.ms.app.device.status.DeviceStatus;
@@ -34,7 +34,7 @@ public class MoveTestCommand extends BaseCommandHandler {
             try {
                 //deviceSensorService.collectSensorState();//收集传感器转态
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(form.getCmdId(), form.getCmdCode(), "1、各项传感器正常", 25, "success"));
-                DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(200.0); //移动到200mm处
+                DeviceCommand motorXPositionSetCommand = DeviceCommandGenerator.motorXPositionSet(200.0, 20.0); //移动到200mm处
                 CommandFuture motorXPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorXPositionSetCommand);
                 commandWait(motorXPositionSetCommandFuture);
 
@@ -44,8 +44,8 @@ public class MoveTestCommand extends BaseCommandHandler {
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(form.getCmdId(), form.getCmdCode(), "2、x轴电机检测完毕", 50, "success"));
 
 
-                DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(100.0);//y轴移动100mm
-                CommandFuture motorYPositionSetCommandFuture =  deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYPositionSetCommand);
+                DeviceCommand motorYPositionSetCommand = DeviceCommandGenerator.motorYPositionSet(100.0, 20.0);//y轴移动100mm
+                CommandFuture motorYPositionSetCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorYPositionSetCommand);
                 commandWait(motorYPositionSetCommandFuture);
 
                 DeviceCommand motorYOriginCommand = DeviceCommandGenerator.motorYOrigin();//y轴回原点
@@ -53,7 +53,7 @@ public class MoveTestCommand extends BaseCommandHandler {
                 commandWait(motorYOriginCommandFuture);
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(form.getCmdId(), form.getCmdCode(), "3、y轴电机检测完毕", 75, "success"));
 
-                DeviceCommand motorZPositionCommand = DeviceCommandGenerator.motorZPositionSet(50.0);//z轴50mm处
+                DeviceCommand motorZPositionCommand = DeviceCommandGenerator.motorZPositionSet(50.0, 20.0);//z轴50mm处
                 CommandFuture motorZPositionCommandFuture = deviceCommandService.sendCommand(form.getCmdId(), form.getCmdCode(), motorZPositionCommand);
                 commandWait(motorZPositionCommandFuture);
 
@@ -62,7 +62,7 @@ public class MoveTestCommand extends BaseCommandHandler {
                 commandWait(motorZOriginCommandFuture);
                 webSocketService.pushSelfMoveTest(SelfMoveTestGenerator.generateJson(form.getCmdId(), form.getCmdCode(), "4、z轴电机检测完毕", 100, "success"));
             } finally {
-               // deviceStatus.setSelfTestCompleted(true);
+                // deviceStatus.setSelfTestCompleted(true);
             }
         });
     }