update

src/main/java/a8k/service/hardware/HbotControlService.java

@@ -47,9 +47,9 @@ public class HbotControlService implements HardwareCtrlModule {
 		return settingReader.getInteger("ActionOvertime", 10000);
 	}
 
-	@HardwareServiceParam(name = "归零超时事件", group = "基础配置")
-	public Integer getRuntoZeroActionOvertime() {
-		return settingReader.getInteger("RuntoZeroActionOvertime", 20000);
+	@HardwareServiceParam(name = "Hbot归零超时时间", group = "基础配置")
+	public Integer getHbotRuntoZeroActionOvertime() {
+		return settingReader.getInteger("HbotRuntoZeroActionOvertime", 20000);
 	}
 
 	@HardwareServiceParam(name = "扫码超时时间", group = "基础配置")
@@ -71,8 +71,8 @@ public class HbotControlService implements HardwareCtrlModule {
 		return settingReader.getObject("TipPickUpPosInfo", TipPickUpPosInfo.class,
 				new TipPickUpPosInfo(
 						new Pos2d(887, -15),
-						new Pos2d(887, -15),
-						new Pos2d(887, -15),
+						new Pos2d(2413, -15),
+						new Pos2d(3947, -15),
 						92,
 						92,
 						585));
@@ -199,10 +199,12 @@ public class HbotControlService implements HardwareCtrlModule {
 
 		//HBot移动
 		canBus.hbotEnable(MId.HbotM, 1);
-		canBus.hbotMoveToBlock(MId.HbotM, targetPos.x, targetPos.y, getRuntoZeroActionOvertime());
+		canBus.hbotMoveToBlock(MId.HbotM, targetPos.x - 15, targetPos.y - 15, getActionOvertime());
+		canBus.hbotMoveToBlock(MId.HbotM, targetPos.x, targetPos.y, getActionOvertime());
 
 		//Z轴移动
-		zMoveTo(targetPos.z);
+		if (targetPos.z != 0)
+			zMoveTo(targetPos.z);
 	}
 
 
@@ -243,12 +245,15 @@ public class HbotControlService implements HardwareCtrlModule {
 		//归零前检查
 		checkPublicArea();
 		canBus.stepMotorEnable(MId.PipetteModZM, 1);
-		canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, getRuntoZeroActionOvertime());
+		canBus.hbotEnable(MId.HbotM, 1);
+
+		canBus.stepMotorEasyMoveToZeroBlock(MId.PipetteModZM, getActionOvertime());
+		canBus.hbotMoveToZeroBlock(MId.HbotM, getHbotRuntoZeroActionOvertime());
 
 		//丢弃tip
 		Pos3d dropPos = getTipDropPos();
 		hbotCheckAndMoveTo(dropPos);
-		canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, getRuntoZeroActionOvertime());
+		canBus.pipetteCtrlInitDeviceBlock(MId.PipetteMod, getActionOvertime());
 
 		//快速归零
 		modGroupMoveToZeroQuick();
@@ -269,7 +274,7 @@ public class HbotControlService implements HardwareCtrlModule {
 		hbotMoveTo(pos.x, pos.y);
 		zMoveTo(pos.z);
 		canBus.pipetteCtrlPutTip(MId.PipetteMod);
-
+		zMoveTo(0);
 	}
 
 	@HardwareServiceAction(name = "取Tip", group = "单步测试")
@@ -337,6 +342,7 @@ public class HbotControlService implements HardwareCtrlModule {
 	//	测试
 	//	+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 	Boolean testTakeTipFlag;
+
 	private AppRet<Boolean> takeTipTestStep(Integer groupId, Integer index) throws HardwareException, InterruptedException {
 		var              ret    = takeTip(groupId, index);
 		TipPickUpPosInfo tipPos = getTipPickUpPosInfo();