update

sdk/components/pipette_module/base/pipette_cfg.hpp

@@ -291,7 +291,7 @@ typedef enum {
   kcontainer_info_fix_water_level_depth,
   kcontainer_info_llf_vconvert_coneff,
   kcontainer_info_pierce_depth,
-  kcontainer_info_lld_end_pos_margin,  // lld结束位置冗余,精度0.1mm，abspos = container_neck_pos + lld_end_pos_margin
+  kcontainer_info_lld_end_pos_margin,  // lld结束位置冗余,精度0.1mm，lld_max_pos = container_pos+container_depth - lld_end_pos_margin
   kcontainer_info_mark,
 } container_info_index_t;
 

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -172,6 +172,14 @@ int32_t PipetteModule::pipette_zmotor_move_by(int32_t distance) {
   });
   return 0;
 }
+int32_t PipetteModule::pipette_zmotor_move_to_tip_deposit() {
+  thread_start_work(__FUNCTION__, [this]() {
+    platinfo_t *platform_info = get_platinfo_smart(m_common_cfg.platform_info_cpyid, &m_now_platinfo);
+    zm_move_to_block(platform_info->tip_deposit_pos, kzm_v_default, 0);
+  });
+  return 0;
+}
+
 int32_t PipetteModule::pipette_zmotor_move_to(int32_t tox) {
   if (zmbcfg.min_d != 0 && tox < zmbcfg.min_d) tox = zmbcfg.min_d;
   if (zmbcfg.max_d != 0 && tox > zmbcfg.max_d) tox = zmbcfg.max_d;

sdk/components/pipette_module/pipette_ctrl_module.hpp

@@ -275,6 +275,9 @@ class PipetteModule : public ZIModule {
   virtual int32_t pipette_zmotor_read_pos(int32_t *pos);
   virtual int32_t pipette_zmotor_read_enc_pos(int32_t *pos);
 
+  // kpipette_zmotor_move_to_tip_deposit
+  virtual int32_t pipette_zmotor_move_to_tip_deposit();
+
   /***********************************************************************************************************************
    *                                                        PUMP                                                         *
    ***********************************************************************************************************************/

sdk/components/pipette_module/pipette_ctrl_module_test.cpp

@@ -135,4 +135,5 @@ int32_t PipetteModule::pipette_test_move_to_pierce_pos(int32_t container_pos, in
     check_container_info_cpyid(container_cpyid);
     zm_move_to_lld_end_pos_block(container_pos, container_info, kzm_v_default, 0);  // 移动到lld结束位置
   });
+  return 0;
  }

sdk/components/pipette_module/pipette_ctrl_module_zm_ctrl.cpp

@@ -56,6 +56,9 @@ void PipetteModule::zm_move_to_lld_end_pos_block(int32_t container_pos, containe
   zm_move_to_block(container_pos + containInfo->container_depth - containInfo->lld_end_pos_margin, vbcpyid, vel);
 }
 
+
+
+
 void PipetteModule::do_zm_move_0p() {
   bool is_trigger = false;
   if (!zm0p_is_trigger()) {

sdk/components/zcan_protocol_parser/zcan_protocol_parser.cpp

@@ -192,6 +192,7 @@ void ZCanProtocolParser::initialize(ZCanReceiver* cancmder) {
   REGFN(pipette_read_state);
   REGFN(pipette_pump_distribu_all_set_param);
   REGFN(pipette_pump_distribu_all);
+  REGFN(pipette_zmotor_move_to_tip_deposit);
 
   REGFN(pipette_zmotor_read_pos);
   REGFN(pipette_zmotor_read_enc_pos);
@@ -1246,6 +1247,11 @@ int32_t ZCanProtocolParser::pipette_test_move_to_lld_end_pos(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(2);
   return module->pipette_test_move_to_lld_end_pos(cxt->params[0], cxt->params[1]);
 }
+// pipette_zmotor_move_to_tip_deposit
+int32_t ZCanProtocolParser::pipette_zmotor_move_to_tip_deposit(cmdcontxt_t* cxt) {
+  CHECK_AND_GET_MODULE(0);
+  return module->pipette_zmotor_move_to_tip_deposit();
+}
 
 int32_t ZCanProtocolParser::pipette_set_common_cfg(cmdcontxt_t* cxt) {
   CHECK_AND_GET_MODULE(2);

sdk/components/zcan_protocol_parser/zcan_protocol_parser.hpp

@@ -234,6 +234,8 @@ class ZCanProtocolParser : public IZCanRxProcesser {
   CMDFN(pipette_test_move_to_fix_water_level_pos);
   CMDFN(pipette_test_move_to_pierce_pos);
   CMDFN(pipette_test_move_to_lld_end_pos);
+  CMDFN(pipette_zmotor_move_to_tip_deposit);
+  
   
 };
 

usrc/a8000_protocol/protocol/cmdid.cpp

@@ -152,6 +152,7 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kpipette_zmotor_read_dev_status_cache),
     CMD_ITERM(kpipette_zmotor_read_pos),
     CMD_ITERM(kpipette_zmotor_read_enc_pos),
+    CMD_ITERM(kpipette_zmotor_move_to_tip_deposit),
     CMD_ITERM(kpipette_pump_init_device),
     CMD_ITERM(kpipette_pump_take_tip),
     CMD_ITERM(kpipette_pump_deposit_tip),

usrc/a8000_protocol/protocol/cmdid.hpp

@@ -162,6 +162,7 @@ typedef enum {
   kpipette_zmotor_read_dev_status_cache        = 0x7508,
   kpipette_zmotor_read_pos                     = 0x7509,
   kpipette_zmotor_read_enc_pos                 = 0x750A,
+  kpipette_zmotor_move_to_tip_deposit          = 0x750B,  
 
   kpipette_pump_init_device            = 0x7580,
   kpipette_pump_take_tip               = 0x7581,