diff --git a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java index 86f344e..154bfe5 100644 --- a/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java +++ b/src/main/java/com/iflytop/sgs/app/cmd/control/LiquidPreFillStartCommand.java @@ -44,15 +44,15 @@ public class LiquidPreFillStartCommand extends BaseCommandHandler { Solutions solutions = solutionsService.getById(solutionId);//数据库获取酸液信息 Assert.notNull(solutions, () -> new AppException(ResultCode.OPERATION_NOT_ALLOWED));//检验参数 ValveStateCode valveStateCode = ValveStateCode.valueOf(solutions.getCode());//获取对应的电磁阀通道 - Point3D liquidAreaTrayPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaTrayPoint).getPoint3D(); //获取加液区上方点位 + Point3D heatArea1TrayClawPoint = devicePositionService.getPosition(DevicePositionCode.heatArea1TrayClawPoint).getPoint3D(); //加热区1上方点位 Double liquidAreaPreFillPoint = devicePositionService.getPosition(DevicePositionCode.liquidAreaPreFillPoint).getPositon(); //加液模块电机预充时下降进入试管抽取位置 double position = devicePositionService.getPosition(DevicePositionCode.solutionPreFillDistance).getDistance();//溶液首次预充距离 return runAsync(() -> { deviceStateService.getDeviceState().getSolutionModule().setIdle(true);//设置占用 deviceStateService.getDeviceState().getSolutionModule().setPumping(true);//设置正在加液 solutionModuleService.liquidValveSwitch(cmdDTO.getCommandId(), cmdDTO.getCommand(), valveStateCode);//电磁阀对应的酸液通道打开 + transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), heatArea1TrayClawPoint);//移动至加热位1 solutionModuleService.solutionMotorMoveZero(cmdDTO.getCommandId(), cmdDTO.getCommand());//加液机械臂上升 - transferModuleService.transferMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), liquidAreaTrayPoint);//移动至加液位置 solutionModuleService.solutionMotorMove(cmdDTO.getCommandId(), cmdDTO.getCommand(),liquidAreaPreFillPoint);//加液机械臂下降至至预充点位 solutionModuleService.liquidPumpMove(cmdDTO.getCommandId(), cmdDTO.getCommand(), position);//预充开始 deviceStateService.getDeviceState().getSolutionModule().setIdle(false);//设置占用