From 04dac1a9c1c4bbb140a0542c31d05572f5ef00a3 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Mon, 29 Jul 2024 08:57:58 +0800
Subject: [PATCH] =?UTF-8?q?=E5=BC=B9=E5=87=BAtip=E4=BC=9A=E6=A3=80?=
 =?UTF-8?q?=E6=9F=A5tip=E6=98=AF=E5=90=A6=E5=BC=B9=E5=87=BA=E6=88=90?=
 =?UTF-8?q?=E5=8A=9F?=
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---
 sdk/components/pipette_module/pipette_ctrl_module_v2.cpp | 8 ++++++--
 sdk/components/sensors/smtp2_v2/smtp2_v2.cpp             | 2 +-
 usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp | 4 ++--
 3 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
index ba1f917..33f565d 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp
@@ -218,11 +218,13 @@ int32_t PipetteModule::do_pipette_ctrl_init_device() {
 }
 int32_t PipetteModule::do_pipette_ctrl_put_tip() {
   m_thread.stop();
-  creg.module_status = 1;
+  creg.module_status    = 1;
+  creg.module_errorcode = 0;
   m_thread.start(
       [this]() {  //
         DO_IN_THREAD(do_put_tip_before_run());
         DO_IN_THREAD(m_smtp2.pump_put_tip());
+        ZLOGI(TAG,"put tip");
         while (true) {
           if (!check_when_run()) break;
           if (m_thread.getExitFlag()) break;
@@ -242,8 +244,9 @@ int32_t PipetteModule::do_pipette_ctrl_put_tip() {
 
           if (isbusy == 0) break;
 
-          m_thread.sleep(10);
+          m_thread.sleep(50);
         }
+        ZLOGI(TAG,"put tip end");
 
       },
       [this]() {  // exit fn
@@ -734,6 +737,7 @@ int32_t PipetteModule::do_put_tip_before_run() {
   creg.module_status    = 1;
   creg.module_errorcode = 0;
   m_state.dul           = 0;
+  return 0;
 }
 
 int32_t PipetteModule::after_run() {
diff --git a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
index 82009c6..0a53fe5 100644
--- a/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
+++ b/sdk/components/sensors/smtp2_v2/smtp2_v2.cpp
@@ -71,7 +71,7 @@ int32_t SMTP2V2::pump_set_vmax(int32_t vel) { return setstate(true, "/1N2V%dR\r"
 int32_t SMTP2V2::pump_set_acc_and_dec(int32_t acc, int32_t dec) { return setstate(true, "/1L%d,%dR\r", acc, dec); }
 int32_t SMTP2V2::pump_set_plld_start_delay(int32_t delay_ms) { return setstate(true, "/1T%dR\r", delay_ms); }
 
-int32_t SMTP2V2::pump_put_tip() { return runaction(true, "/1E1R\r"); }
+int32_t SMTP2V2::pump_put_tip() { return runaction(true, "/1E0R\r"); }
 int32_t SMTP2V2::pump_init(int32_t v) { return runaction(true, "/1N2V%dZR\r", v * 319); }
 int32_t SMTP2V2::pump_reset() {
   _sendcmd(true, "/1!0R\r");  // 复位指令没有回执，所以这里只能使用方法_sendcmd
diff --git a/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp b/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
index 8742b74..b7d617b 100644
--- a/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
+++ b/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp
@@ -92,8 +92,8 @@ void Subboard10HbotV2::initialize() {
 
 #define LEVEL1_A         5
 #define LEVEL2_A         15
-#define START_AND_STOP_V 30
-#define V1               200
+#define START_AND_STOP_V 1
+#define V1               100
 
   xy_defaultcfg.robot_type                   = XYRobotCtrlModule::khbot;
   xy_defaultcfg.one_circle_pulse             = 7200;