From 6c3a939be060f25d7d8d4acce75990686d635156 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 26 Oct 2024 22:23:36 +0800 Subject: [PATCH] update --- .../pipette_module/pipette_ctrl_module_v2.cpp | 18 +++++++++++------- 1 file changed, 11 insertions(+), 7 deletions(-) diff --git a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp index cb7b67d..59b475f 100644 --- a/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp +++ b/sdk/components/pipette_module/pipette_ctrl_module_v2.cpp @@ -35,8 +35,8 @@ #define PIPETTE_PREPARE_POS 550 #define LLD_PREPARE_DISTRIBUT_POS 100 -#define LLF_DPOS 1000 -#define ASPIRATE_POS 150 +// #define LLF_DPOS 1000 +#define ASPIRATE_POS 150 using namespace iflytop; // using namespace pipette_module_v3; @@ -464,9 +464,9 @@ int32_t PipetteModuleV2::pipette_aspirate(int32_t ul) { if (m_state.aspirate_cfg_llf_zm_rpm != 0) { if (ul >= 0) { - zm_move_to(m_state.llf_startz, m_state.aspirate_cfg_llf_zm_rpm); - } else { zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm); + } else { + zm_move_to(m_state.llf_startz, m_state.aspirate_cfg_llf_zm_rpm); } } @@ -510,9 +510,9 @@ int32_t PipetteModuleV2::pipette_aspirate_and_verify(int32_t ul) { // if (m_state.aspirate_cfg_llf_zm_rpm != 0) zm_move_by(dpos, m_state.aspirate_cfg_llf_zm_rpm); if (m_state.aspirate_cfg_llf_zm_rpm != 0) { if (ul >= 0) { - zm_move_to(m_state.llf_startz, m_state.aspirate_cfg_llf_zm_rpm); - } else { zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm); + } else { + zm_move_to(m_state.llf_startz, m_state.aspirate_cfg_llf_zm_rpm); } } @@ -546,7 +546,11 @@ int32_t PipetteModuleV2::pipette_shake_up(int32_t ul, int32_t times) { int32_t startpos = m_zm->getXACTUAL(); int32_t endpos = 0; // first aspirate - if (m_state.aspirate_cfg_llf_zm_rpm) zm_move_by(LLF_DPOS, m_state.aspirate_cfg_llf_zm_rpm); + // if (m_state.aspirate_cfg_llf_zm_rpm) zm_move_by(LLF_DPOS, m_state.aspirate_cfg_llf_zm_rpm); + if (m_state.aspirate_cfg_llf_zm_rpm != 0) { + zm_move_to(m_state.llf_endz, m_state.aspirate_cfg_llf_zm_rpm); + } + DO_IN_THREAD(m_smtp2.pump_aspirate(m_cfg.aspirate_pump_vel, ul)); pump_waitfor_stop();