~

src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java

@@ -3,6 +3,7 @@ import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
 
 import java.util.List;
@@ -18,10 +19,14 @@ import java.util.List;
         DiActMotor transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class);
         DiActMotor transUdMotor = this.getActuator(MyDevice.ACT_TRANSFER_UD_MOTOR, DiActMotor.class);
         DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+        DiActMotor liquidArmMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class);
 
         String key = "HeatingPlateMotorSlotCover_" + this.slotIndex;
         DiActServo slotCoverServo = this.getActuator(key, DiActServo.class);
 
+        // 搬运试管架必须要先移至到边上去，不然会装上 ~~~
+        liquidArmMotor.moveTo("LiquidArmTubeRackPickUp");
+
         this.execute(List.of(
             () -> liquidPlateMotor.moveTo("LiquidPlatePlaceTubeRack"), // 加液转盘移动到取架位置
             () -> transLrMotor.moveTo("TransLrMotorLiquid") // 搬运移动到加液取放架位置
@@ -57,9 +62,12 @@ import java.util.List;
             () -> liquidPlateMotor.moveTo("LiquidPlateStandby") // 加液转盘移动到就绪位置
         ));
 
+        // 加液臂再移回去 ~~~
+        liquidArmMotor.moveTo("LiquidArmStandby");
+
         // 更新试管架位置
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);
         var slot = slotMan.getSlotByIndex(this.slotIndex);
-        slot.rackPosition = "HEAT_PLATE";
+        slot.setRackPosition(ResHeatingTubeRackSlot.LOCATION_HEAT_PLATE);
     }
 }