diff --git a/src/main/java/com/iflytop/a800/task/StartResetTask.java b/src/main/java/com/iflytop/a800/task/StartResetTask.java index b97d7f0..5e2f4ca 100644 --- a/src/main/java/com/iflytop/a800/task/StartResetTask.java +++ b/src/main/java/com/iflytop/a800/task/StartResetTask.java @@ -1,8 +1,8 @@ package com.iflytop.a800.task; import com.iflytop.a800.TaskBase; +import com.iflytop.a800.device.Device; import com.iflytop.uf.UfActuatorCmdExecutor; import com.iflytop.uf.model.UfMdbRuntimeVariable; - public class StartResetTask extends TaskBase { @Override public void run() { @@ -10,16 +10,16 @@ public class StartResetTask extends TaskBase { UfActuatorCmdExecutor.execute("ArmZ", "motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("ArmXY", "xymotor_move_to_zero"); UfActuatorCmdExecutor.execute("Pipette", "pipette_ctrl_init_device"); - UfActuatorCmdExecutor.execute("Pipette", "set_pipette_volume_limit", "4050,200"); +// UfActuatorCmdExecutor.execute("Pipette", "set_pipette_volume_limit", "4050,200"); // 摇匀 + UfActuatorCmdExecutor.execute("MotorTubeMoveUpDown", "step_motor_enable"); + UfActuatorCmdExecutor.execute("MotorTubeMoveUpDown", "step_motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("MotorTubeBodyClip", "step_motor_enable"); UfActuatorCmdExecutor.execute("MotorTubeBodyClip", "step_motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("MotorTubeShake", "step_motor_enable"); UfActuatorCmdExecutor.execute("MotorTubeShake", "step_motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("MotorTubeShake", "step_motor_easy_move_to", "90"); - UfActuatorCmdExecutor.execute("MotorTubeMoveUpDown", "step_motor_enable"); - UfActuatorCmdExecutor.execute("MotorTubeMoveUpDown", "step_motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("ServoTubeMoveFrontBack", "mini_servo_enable", "1"); UfActuatorCmdExecutor.execute("ServoTubeMoveFrontBack", "mini_servo_move_to","1800"); UfActuatorCmdExecutor.execute("ServoTubeCapClip", "mini_servo_enable", "1"); @@ -33,13 +33,20 @@ public class StartResetTask extends TaskBase { UfActuatorCmdExecutor.execute("MotorIncubatorRotate", "motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("MotorCardWarehousePush", "motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("MotorCardWarehouseMove", "motor_easy_move_to_zero"); - UfActuatorCmdExecutor.execute("MotorIncubatorRotate", "motor_easy_move_to", "-150"); + UfActuatorCmdExecutor.execute("MotorIncubatorRotate", "motor_easy_move_to", "-80"); UfActuatorCmdExecutor.execute("MotorTestCardScan", "motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("MotorTestCardScan", "motor_easy_move_to", "400"); UfActuatorCmdExecutor.execute("MotorTestCardPull", "motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("MotorTestCardPull", "motor_easy_move_to", "1200"); UfActuatorCmdExecutor.execute("MotorIncubatorRotate", "motor_easy_move_to_zero"); + var incubator = Device.getInstance().incubator; + incubator.cleanupByRuntimeVariableSlotStatus(); + UfActuatorCmdExecutor.execute("MotorIncubatorRotate", "motor_easy_move_to_zero"); + + // 费料盒已满检测关闭 + UfActuatorCmdExecutor.execute("TrashBox", "extboard_write_outio", "0,0"); + // 就绪 UfMdbRuntimeVariable.setString("IsDeviceReady", "yes"); }