From c8539b31377cf14a740516083d3f0894e2ff5bfb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E7=8E=8B=E6=A2=A6=E8=BF=9C?= <1063331231@qq.com> Date: Thu, 26 Jun 2025 13:58:06 +0800 Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E7=BB=9F=E4=B8=80=E5=8A=A0=E6=B6=B2?= =?UTF-8?q?=E4=BD=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java index 8f2946b..be04791 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/CleanStartCommand.java +++ b/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 }