x轴进入卡槽速度改为30 进入后恢复

src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java

@@ -1,6 +1,7 @@
 package com.iflytop.sgs.app.service.device.module;
 
 import com.iflytop.sgs.app.model.bo.Point3D;
+import com.iflytop.sgs.app.service.api.SystemConfigService;
 import com.iflytop.sgs.app.service.device.DeviceCommandService;
 import com.iflytop.sgs.app.service.device.DeviceStateService;
 import com.iflytop.sgs.app.ws.server.WebSocketSender;
@@ -8,6 +9,7 @@ import com.iflytop.sgs.common.cmd.CommandFuture;
 import com.iflytop.sgs.common.cmd.DeviceCommandBundle;
 import com.iflytop.sgs.common.cmd.DeviceCommandGenerator;
 import com.iflytop.sgs.common.enums.CraftsTransferTypeCode;
+import com.iflytop.sgs.common.enums.SystemConfigCode;
 import com.iflytop.sgs.common.utils.CommandUtil;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
@@ -27,6 +29,7 @@ import java.util.concurrent.locks.ReentrantLock;
 public class TransferModuleService {
     private final DeviceCommandService deviceCommandService;
     private final DeviceStateService deviceStateService;
+    private final SystemConfigService systemConfigService;
     private final BlockingQueue<Thread> solutionQueue = new ArrayBlockingQueue<>(10);
     private final BlockingQueue<Thread> annealQueue = new ArrayBlockingQueue<>(10);
     private final BlockingQueue<Thread> heatQueue = new ArrayBlockingQueue<>(10);
@@ -254,9 +257,26 @@ public class TransferModuleService {
      * 转运机械臂X轴相对移动到指定点
      */
     public void transferXMoveBy(String cmdId, String cmdCode, double position) throws Exception {
+        Double lowSpeed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.z_move_in_low_speed);//进入卡槽的速度
+        Double normalSpeed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.z_move_in_normal_speed);//正常的速度
+        if (lowSpeed == null) {
+            lowSpeed = 30.0;
+        }
+        if (normalSpeed == null) {
+            lowSpeed = 100.0;
+        }
+        DeviceCommandBundle deviceLowSpeedSetCommand = DeviceCommandGenerator.transferZSet(lowSpeed);
+        CommandFuture deviceSetLowSpeedCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceLowSpeedSetCommand);
+        CommandUtil.wait(deviceSetLowSpeedCommandFuture);
+
         DeviceCommandBundle deviceCommand = DeviceCommandGenerator.transferXMoveBy(position);
         CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand);
         CommandUtil.wait(deviceCommandFuture);
+
+        DeviceCommandBundle deviceNormalSpeedSetCommand = DeviceCommandGenerator.transferZSet(normalSpeed);
+        CommandFuture deviceNormalSpeedSetCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceNormalSpeedSetCommand);
+        CommandUtil.wait(deviceNormalSpeedSetCommandFuture);
+
     }
 
     /**

src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java

@@ -21,6 +21,8 @@ public enum SystemConfigCode {
     fan_stop_temperature("风扇关闭的温度设置"),
     pre_fill_when_open_service("开机是否预充 默认true"),
     pre_fill_distance_when_open_service("开机预充距离 最小3"),
+    z_move_in_low_speed("z轴进入卡槽的速度 标准30 最大100"),
+    z_move_in_normal_speed("z轴正常移动速度 标准100"),
     ;
 
     private final String description;

src/main/resources/sql/init.sql

@@ -46,20 +46,22 @@ CREATE TABLE IF NOT EXISTS system_config
     create_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
     update_time TIMESTAMP DEFAULT CURRENT_TIMESTAMP
 );
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (1, '水加液系数', 'water', '2', '2025-06-07 10:58:06.000', '2025-06-07 10:58:07.000');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (2, '浓硝酸加液系数', 'thick', '2', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (3, '稀硝酸加液系数', 'thin', '2', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (4, '回吸放滴落距离', 'back_flow_distance', '0.2', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (5, '过量预充距离', 'pre_fill_distance', '20', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (6, '过量排空距离', 'drain_distance', '20', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (7, '过量抽液距离', 'number_reduce', '10', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (8, '允许的最大清洁次数', 'cycle_clean_max', '8', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (1, '水加液系数', 'water', '2.0', '2025-06-07 10:58:06.000', '2025-06-07 10:58:07.000');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (2, '浓硝酸加液系数', 'thick', '2.0', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (3, '稀硝酸加液系数', 'thin', '2.0', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (4, '回吸放滴落距离', 'back_flow_distance', '0.1', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (5, '过量预充距离', 'pre_fill_distance', '17.0', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (6, '过量排空距离', 'drain_distance', '17.0', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (7, '过量抽液距离', 'number_reduce', '7.0', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (8, '允许的最大清洁次数', 'cycle_clean_max', '5', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (9, '蠕动泵最大转速限制', 'liquid_max_speed', '150', '2025-05-28 13:30:45', '2025-05-28 13:30:45');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (10, '忽略门自检', 'door_origin_is_ignore', 'true', '2025-05-29T14:23:48', '2025-05-29T14:23:48');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (11, '工艺结束蜂鸣器次数', 'crafts_end_beep_times', '3', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (12, '风扇关闭的温度设置', 'fan_stop_temperature', '110.0', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000');
 INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (13, '开机是否预充', 'pre_fill_when_open_service', 'true', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000');
-INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (14, '开机预充距离', 'pre_fill_distance_when_open_service', '40.0', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (14, '开机预充距离', 'pre_fill_distance_when_open_service', '3.0', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (15, 'z轴进入卡槽的速度 标准50 最大100', 'z_move_in_low_speed', '30.0', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000');
+INSERT OR IGNORE INTO system_config ("id", "name", "code", "value", "create_time", "update_time") VALUES (16, 'z轴正常移动速度 标准100', 'z_move_in_normal_speed', '100.0', '2025-06-04 19:06:55.000', '2025-06-04 19:06:56.000');