diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index cbd2d75..97744b5 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/sdk/components/pipette_module/pipette_ctrl_module.cpp b/sdk/components/pipette_module/pipette_ctrl_module.cpp
index 474f7e2..a6d451d 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module.cpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module.cpp
@@ -127,7 +127,7 @@ int32_t PipetteModule::pipette_zmotor_enable(int32_t enable) {
int32_t PipetteModule::pipette_zmotor_move_zero() { //
thread_start_work(__FUNCTION__, [this]() {
do_zm_move_0p(); // 移动到零点
- zm_set_now_pos(0 + zmbcfg.dzero - zmbcfg.io_trigger_append_distance);
+ zm_set_now_pos(get_zmotor_standby_pos());
m_state.zm_has_move_zero = 1;
});
return 0;
@@ -144,10 +144,10 @@ int32_t PipetteModule::pipette_zmotor_measure_distance() {
do_zm_move_0p(); // 移动到零点
int32_t dpos = zm_get_now_pos() - startpos;
- zm_set_now_pos(0 + zmbcfg.dzero - zmbcfg.io_trigger_append_distance);
+ zm_set_now_pos(get_zmotor_standby_pos());
m_state.zm_has_move_zero = 1;
- m_state.asynchronous_result0 = 0 + zmbcfg.dzero - zmbcfg.io_trigger_append_distance - dpos;
+ m_state.asynchronous_result0 = get_zmotor_standby_pos() - dpos;
});
return 0;
}
@@ -438,7 +438,7 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
// 移动到转移位置
ZLOGI(TAG, "-->zm move to transform pos");
- zm_move_to_block(0, kzm_v_default, 0);
+ zm_move_to_block(get_zmotor_standby_pos(), kzm_v_default, 0);
// 清空tip
ZLOGI(TAG, "-->empty tip before lld");
pump_move_to_x100nl_block(0, liquidinfo->empty_tip_pm_vcpyid);
@@ -487,7 +487,6 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
int32_t water_level = 0;
bool detect_liquid = false;
while (true) {
-#if 1
if (m_zm->isStoped()) {
detect_liquid = false;
ZLOGI(TAG, "-->zm is stoped");
@@ -511,39 +510,7 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
ZLOGI(TAG, "...wait for lld trigger, now zm pos %d, pressure %d dpressure %d", nopos, pressure, pressure - start_pressure);
push_pressure_sample_data(nopos, pressure);
}
-#else
- if (m_zm->isStoped()) {
- detect_liquid = false;
- ZLOGI(TAG, "-->zm is stoped");
- break;
- }
-
- int32_t pressure = 0;
- int32_t dpressure0, dpressure1 = 0;
- m_smtp2.pump_get_pressure(&pressure);
- dpressure0 = pressure - start_pressure;
-
- // lld触发
- if (abs(dpressure0) > liquidinfo->plld_threshold) {
- water_level = zm_get_now_pos() - liquidinfo->plld_invasion_depth;
- detect_liquid = true;
-
- m_smtp2.pump_get_pressure(&pressure);
- dpressure1 = pressure - start_pressure;
- if (abs(dpressure1) < abs(dpressure0) + 5) {
- detect_liquid = false;
- ZLOGW(TAG, "!!!!!!!!!!!!!!!!!!!!!!!!!!!! %d", dpressure1);
- continue;
- }
-
- m_zm->stop();
- ZLOGI(TAG, "-->detect liquid, water_level %d,dpressure0 %d,dpressure1 %d", water_level, dpressure0, dpressure1);
- break;
- }
-
- ZLOGI(TAG, "...wait for lld trigger, now zm pos %d, pressure %d dpressure %d", zm_get_now_pos(), pressure, dpressure0);
-#endif
thread_delay(1);
}
ecode = m_smtp2.pump_get_state(nullptr); // 获取泵状态，在此之前不能执行任何泵机指令，否则会丢失错误状态
@@ -557,10 +524,10 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
// LLD错误。在cLLD、pLLD、hLLD模式下均未检测到液体。在超过指定的压力阈值之前，泵已达到行程终点。
m_state.pump_lld_reach_limit = 1;
m_state.aspiration_ok = 0;
- zm_move_to_block(0, kzm_v_default, 0);
+ zm_move_to_block(get_zmotor_standby_pos(), kzm_v_default, 0);
throw zapp_exception(err::kpipette_lld_error_no_liquid_detected);
} else {
- zm_move_to_block(0, kzm_v_default, 0);
+ zm_move_to_block(get_zmotor_standby_pos(), kzm_v_default, 0);
throw zapp_exception(ecode);
}
}
@@ -572,7 +539,7 @@ void PipetteModule::_do_lld(int32_t container_pos, platinfo_t *platform_info, co
if (!detect_liquid) {
ZLOGE(TAG, "detect liquid fail");
- zm_move_to_block(0, kzm_v_default, 0);
+ zm_move_to_block(get_zmotor_standby_pos(), kzm_v_default, 0);
throw zapp_exception(err::kpipette_lld_error_no_liquid_detected);
}
m_state.detected_liquid = 1;
diff --git a/sdk/components/pipette_module/pipette_ctrl_module.hpp b/sdk/components/pipette_module/pipette_ctrl_module.hpp
index 2f50ad7..c91c052 100644
--- a/sdk/components/pipette_module/pipette_ctrl_module.hpp
+++ b/sdk/components/pipette_module/pipette_ctrl_module.hpp
@@ -334,6 +334,7 @@ class PipetteModule : public ZIModule {
virtual int32_t pipette_test_move_to_pierce_pos(int32_t container_pos, int32_t container_cpyid);
virtual int32_t pipette_test_move_to_lld_end_pos(int32_t container_pos, int32_t container_cpyid);
+ int32_t get_zmotor_standby_pos() { return 0 + zmbcfg.dzero - zmbcfg.io_trigger_append_distance; }
/***********************************************************************************************************************
* Utils *
***********************************************************************************************************************/
diff --git a/新建 文本文档.txt b/新建 文本文档.txt
deleted file mode 100644
index e69de29..0000000