From 2555bc7c689397cf28746627a32e008aea950a42 Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Wed, 7 Feb 2024 10:13:30 +0800
Subject: [PATCH] ~~

---
 .../main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java   | 1 -
 .../move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java          | 2 +-
 .../com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java   | 5 ++++-
 src/src/main/resources/device.yml                                 | 8 ++++----
 4 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java
index 875e3b3..4d4240e 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveLiquidAdd.java
@@ -48,7 +48,6 @@ public class MoveLiquidAdd extends DiTaskMoveBase {
         for ( int i=0; i<this.shakeTimes; i++ ) {
             liquidPlateMotor.moveTo(300);
             liquidPlateMotor.moveTo(0);
-
         }
         liquidPlateMotor.setVelocity(liquidPlateMotor.defaultVelocity);
         liquidPlateMotor.setAcc(liquidPlateMotor.defaultAcc);
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java
index 1f62285..48ee3c8 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromLiquidPlateToHeatPlate.java
@@ -1,4 +1,4 @@
-package com.my.graphiteDigesterBg.move;
+ package com.my.graphiteDigesterBg.move;
 import com.my.graphiteDigesterBg.MyDevice;
 import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java
index d03c4ef..19c0600 100644
--- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java
+++ b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveTubeToErrorRackSlot.java
@@ -65,7 +65,9 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase {
         // 加热盘移动到试管位置
         Integer errorHeatPlateSlotLocation = heatPlateMotor.getLocationValue("HeatPlateSlot", errorSlot.index);
         Integer errorHeatPlateSlotTubeOffset = heatPlateMotor.getLocationValue("HeatPlateSlotTubeOffset", errorSlot.index);
-        heatPlateMotor.moveTo(errorHeatPlateSlotLocation + errorHeatPlateSlotTubeOffset);
+//        heatPlateMotor.moveTo(errorHeatPlateSlotLocation + errorHeatPlateSlotTubeOffset);
+        // @TODO : 这个是临时的 ~~~ 上面的数值计算错误 ~~~ 因为先找抓取位置，然后再找放置位置是正确的 ~~~
+        heatPlateMotor.moveTo(2700);
 
         // 打开试管架盖
         errSlotCoverServo.moveTo("HeatPlateSlotCoverOpen", errorSlot.index);
@@ -74,6 +76,7 @@ public class MoveTubeToErrorRackSlot extends DiTaskMoveBase {
         transLrMotorTubeOffset = transLrMotor.getLocationValue("TransLrMotorTubeOffset", this.errorTubeIndex);
         transLrMotor.moveTo(transLrMotorHeatPlateSlotLocation + transLrMotorTubeOffset);
 
+
         // 升降下降到试管位置
         transUdMotor.moveTo("TransUdMotorTubeClip");
 
diff --git a/src/src/main/resources/device.yml b/src/src/main/resources/device.yml
index 18e2249..f2c457a 100644
--- a/src/src/main/resources/device.yml
+++ b/src/src/main/resources/device.yml
@@ -3,7 +3,7 @@ connection :
   path : COM3
   baudRate : 921600
   frameTimeout : 100
-  callTimeout : 1000
+  callTimeout : 2000
   mode : binary # text | hex | binary
   commandLogEnable : false
 #  class : com.my.graphiteDigesterBg.diframe.connection.DiConWebsocket
@@ -87,15 +87,15 @@ actuators :
     shaft : 0
     oneCirclePulse : 10000
     oneCirclePulseDenominator : 18
-    defaultVelocity : 40
+    defaultVelocity : 20
     defaultAcc : 1
     defaultDec : 1
     runToZeroSpeed : 50
     runToZeroDec : 30
     lookZeroEdgeSpeed : 25
     lookZeroEdgeDec : 30
-    stepMotorIHold : 1
-    stepMotorIRun : 2
+    stepMotorIHold : 2
+    stepMotorIRun : 5
 
   - name : 试管夹爪舵机
     key : TransferClipServeMotor