样本添加

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

@@ -5,7 +5,9 @@ import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
 import com.my.graphiteDigesterBg.diframe.actuator.DiActServo;
 import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlotManager;
 
-public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase {
+import java.util.List;
+
+ public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase {
     // slot index
     public Integer slotIndex;
 
@@ -20,22 +22,21 @@ public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase {
         String key = "HeatingPlateMotorSlotCover_" + this.slotIndex;
         DiActServo slotCoverServo = this.getActuator(key, DiActServo.class);
 
-        // 加液转盘移动到取架位置
-        liquidPlateMotor.moveTo("LiquidPlatePlaceTubeRack");
-        // 搬运移动到加液取放架位置
-        transLrMotor.moveTo("TransLrMotorLiquid");
+        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
+        ));
+
         // 搬运下降到取架位置
         transUdMotor.moveTo("TransUdMotorLiquidDepth");
         // 张开试管架夹爪
         transferClipServo.moveTo("TransClipServoRackClip");
-        // 搬运上升到顶部
-        transUdMotor.moveTo("TransUdMotorTop");
-
-        // 加热转盘移动到取放架位置
-        heatPlateMotor.moveTo("HeatPlateSlot", this.slotIndex);
 
-        // 打开试管架盖
-        slotCoverServo.moveTo("HeatPlateSlotCoverOpen");
+        this.execute(List.of(
+            () -> transUdMotor.moveTo("TransUdMotorTop"), // 搬运上升到顶部
+            () -> heatPlateMotor.moveTo("HeatPlateSlot", this.slotIndex), // 加热转盘移动到取放架位置
+            () -> slotCoverServo.moveTo("HeatPlateSlotCoverOpen") // 打开试管架盖
+        ));
 
         // 搬运移动到加热盘取放位置
         transLrMotor.moveTo("TransLrMotorHeatPlateSlot");
@@ -51,8 +52,10 @@ public class MoveMoveTubeRackFromLiquidPlateToHeatPlate extends DiTaskMoveBase {
         // 试管架盖关闭
         slotCoverServo.moveTo("HeatPlateSlotCoverClose");
 
-        heatPlateMotor.moveTo("HeatPlateStandby");
-        liquidPlateMotor.moveTo("LiquidPlateStandby");
+        this.execute(List.of(
+            () -> heatPlateMotor.moveTo("HeatPlateStandby"), // 加热盘转盘移动到就绪位置
+            () -> liquidPlateMotor.moveTo("LiquidPlateStandby") // 加液转盘移动到就绪位置
+        ));
 
         // 更新试管架位置
         var slotMan = this.getResourceManager(ResHeatingTubeRackSlotManager.class);

src/src/main/java/com/my/graphiteDigesterBg/task/TaskSampleAdd.java

@@ -25,7 +25,10 @@ public class TaskSampleAdd extends DiTaskBase {
         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 doorMotor = this.getActuator(MyDevice.ACT_DOOR_MOTOR, DiActMotor.class);
 
+        // 打开设备门
+        doorMotor.reset();
         // 搬运上升到顶部
         transUdMotor.moveTo("TransUdMotorTop");
         // 搬运机械臂移动到就绪位置
@@ -44,6 +47,8 @@ public class TaskSampleAdd extends DiTaskBase {
         moveMoveTubeRackFromLiquidPlateToHeatPlate.setDevice(this.getDevice());
         moveMoveTubeRackFromLiquidPlateToHeatPlate.run();
 
+        // 关闭设备门
+        doorMotor.moveToIO(1, 1);
         this.setStatus(TaskStatus.FINISHED);
     }