1、统一加液位置

src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java

@@ -69,6 +69,7 @@ public class CleanStartCommand extends BaseCommandHandler {
         Double backFlowDistance = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.back_flow_distance);//防低落距离
         Point3D feedAreaTrayPoint3D = devicePositionService.getPosition(DevicePositionCode.feedAreaTrayPoint).getPoint3D();//获取上料区托盘夹取位置点
         Double transferModuleXPickTrayMoveDistance = devicePositionService.getPosition(DevicePositionCode.transferModuleXPickTrayMoveDistance).getDistance();//获取转运模块X轴拿取托盘进出卡槽移动距离
+        Double solutionModuleMotorDownInTubeAddPositon = devicePositionService.getPosition(DevicePositionCode.solutionModuleMotorDownInTubeAddPositon).getPositon(); //加液模块电机下降进入试管加液位置
         double pumpNormalSpeed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pump_normal_speed);//蠕动泵正常转速
         double pumpReduceSpeed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.pump_reduce_speed);//蠕动泵抽取转速
         boolean moduleIdle = deviceStateService.getDeviceState().getTransferModule().isIdle();
@@ -94,7 +95,7 @@ public class CleanStartCommand extends BaseCommandHandler {
                             int column = jsonArray.getInt(j);
                             double distance = Math.abs(column - 5) * trayTubeHorizontalSpacingDistance;//x轴移动距离
                             transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
-                            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
+                            solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液模块下降进入试管加液位置
                             solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), cleanWaterVolume);//加水
                             solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
                         }
@@ -125,7 +126,7 @@ public class CleanStartCommand extends BaseCommandHandler {
                                 int column = jsonArray.getInt(j);
                                 double distance = Math.abs(column - 5) * trayTubeHorizontalSpacingDistance;//x轴移动距离
                                 transferModuleService.transferXMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint3D.getX() + distance);//机械臂移动到试管位置
-                                solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeExtPositon);//加液模块下降进入试管抽取位置
+                                solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), solutionModuleMotorDownInTubeAddPositon);//加液模块下降进入试管加液位置
                                 solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), cleanWaterVolume);//加水
                                 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液模块上升至最高，移出试管
                             }