update

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();