sige 1 year ago
parent
commit
8dfc920e47
  1. 10
      src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java

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