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@ -3,6 +3,7 @@ import com.my.graphiteDigesterBg.MyDevice; |
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import com.my.graphiteDigesterBg.diframe.DiTaskMoveBase; |
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import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor; |
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import com.my.graphiteDigesterBg.diframe.actuator.DiActServo; |
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import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot; |
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import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager; |
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import java.util.List; |
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public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase { |
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@ -19,6 +20,10 @@ public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase { |
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var transLrMotor = this.getActuator(MyDevice.ACT_TRANSFER_LR_MOTOR, DiActMotor.class); |
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var transferClipServo = this.getActuator(MyDevice.ACT_TRANSFER_CLIP_SERVO, DiActServo.class); |
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var liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class); |
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DiActMotor liquidArmMotor = this.getActuator(MyDevice.ACT_LIQUID_MOTOR, DiActMotor.class); |
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// 搬运试管架必须要先移至到边上去,不然会撞上 ~~~ |
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liquidArmMotor.moveTo("LiquidArmTubeRackPickUp"); |
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String key = "HeatingPlateMotorSlotCover_" + this.slotIndex; |
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DiActServo slotCoverServo = this.getActuator(key, DiActServo.class); |
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@ -61,7 +66,10 @@ public class MoveMoveTubeRackFromHeatPlateToLiquidPlate extends DiTaskMoveBase { |
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if ( this.updateSlotStatus ) { |
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var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class); |
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var slot = slotMan.getSlotByIndex(this.slotIndex); |
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slot.rackPosition = "LIQUID_PLATE"; |
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slot.setRackPosition(ResHeatingTubeRackSlot.LOCATION_LIQUID_PLATE); |
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} |
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// 加液臂再移回去 ~~~ |
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liquidArmMotor.moveTo("LiquidArmStandby"); |
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} |
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} |