From f9d55860c53ba756f96d2f4da86562cbc280a740 Mon Sep 17 00:00:00 2001
From: sige <sige@sige.com>
Date: Fri, 22 Mar 2024 09:40:09 +0800
Subject: [PATCH] ~

---
 .../my/graphiteDigesterBg/step/StepShaking.java    | 35 ++++++++++++++++++++++
 1 file changed, 35 insertions(+)
 create mode 100644 src/src/main/java/com/my/graphiteDigesterBg/step/StepShaking.java

diff --git a/src/src/main/java/com/my/graphiteDigesterBg/step/StepShaking.java b/src/src/main/java/com/my/graphiteDigesterBg/step/StepShaking.java
new file mode 100644
index 0000000..0d120cd
--- /dev/null
+++ b/src/src/main/java/com/my/graphiteDigesterBg/step/StepShaking.java
@@ -0,0 +1,35 @@
+package com.my.graphiteDigesterBg.step;
+import com.my.graphiteDigesterBg.MyDevice;
+import com.my.graphiteDigesterBg.diframe.DiTaskStepBase;
+import com.my.graphiteDigesterBg.diframe.TaskStep;
+import com.my.graphiteDigesterBg.diframe.actuator.DiActMotor;
+import com.my.graphiteDigesterBg.resource.ResHeatingTubeRackSlot;
+import com.my.graphiteDigesterBg.task.TaskDigestion;
+@TaskStep(name="Shaking")
+public class StepShaking extends DiTaskStepBase {
+    // count of shaking
+    public Integer count;
+
+    @Override
+    public void run() {
+        // 检查试管架是否在摇匀区域
+        TaskDigestion task = (TaskDigestion)this.getTask();
+
+        var slot = task.getSlot();
+        if ( ResHeatingTubeRackSlot.LOCATION_HEAT_PLATE.equals(slot.rackPosition) ) {
+            task.throwException("试管架未移至加液区域，无法执行摇匀操作");
+            return ;
+        }
+
+        DiActMotor liquidPlateMotor = this.getActuator(MyDevice.ACT_LIQUID_PLATE_MOTOR, DiActMotor.class);
+        liquidPlateMotor.moveTo(0);
+        liquidPlateMotor.setVelocity(300);
+        liquidPlateMotor.setAcc(10);
+        for ( int i=0; i<this.count; i++ ) {
+            liquidPlateMotor.moveTo(300);
+            liquidPlateMotor.moveTo(0);
+        }
+        liquidPlateMotor.setVelocity(liquidPlateMotor.defaultVelocity);
+        liquidPlateMotor.setAcc(liquidPlateMotor.defaultAcc);
+    }
+}