diff --git a/src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java b/src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java index b0ed1f8..d2583a4 100644 --- a/src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java +++ b/src/main/java/com/iflytop/sgs/app/service/device/module/TransferModuleService.java @@ -257,15 +257,15 @@ 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 + Double lowSpeed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.x_move_in_low_speed);//进入卡槽的速度 + Double normalSpeed = systemConfigService.getSystemConfigDoubleByCode(SystemConfigCode.x_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); + DeviceCommandBundle deviceLowSpeedSetCommand = DeviceCommandGenerator.transferXSet(lowSpeed); CommandFuture deviceSetLowSpeedCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceLowSpeedSetCommand); CommandUtil.wait(deviceSetLowSpeedCommandFuture); @@ -273,7 +273,7 @@ public class TransferModuleService { CommandFuture deviceCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceCommand); CommandUtil.wait(deviceCommandFuture); - DeviceCommandBundle deviceNormalSpeedSetCommand = DeviceCommandGenerator.transferZSet(normalSpeed); + DeviceCommandBundle deviceNormalSpeedSetCommand = DeviceCommandGenerator.transferXSet(normalSpeed); CommandFuture deviceNormalSpeedSetCommandFuture = deviceCommandService.sendCommand(cmdId, cmdCode, deviceNormalSpeedSetCommand); CommandUtil.wait(deviceNormalSpeedSetCommandFuture); diff --git a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java index 42d2efc..0ba55eb 100644 --- a/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java +++ b/src/main/java/com/iflytop/sgs/common/enums/SystemConfigCode.java @@ -21,8 +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"), + x_move_in_low_speed("x轴进入卡槽的速度 标准30 最大100"), + x_move_in_normal_speed("x轴正常移动速度 标准100"), ; private final String description;