From 8dfc920e478d52bc82b4ef988189d7a63fedf7f4 Mon Sep 17 00:00:00 2001 From: sige Date: Wed, 27 Mar 2024 08:44:07 +0800 Subject: [PATCH] ~ --- .../move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java b/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java index a9cce5e..d596df4 100644 --- a/src/src/main/java/com/my/graphiteDigesterBg/move/MoveMoveTubeRackFromHeatPlateToLiquidPlate.java +++ b/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"); } }