1

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");
     }