From a6bf8b06714614feb1b52159182b347c0473d4ac Mon Sep 17 00:00:00 2001 From: sige Date: Tue, 9 Jul 2024 20:18:16 +0800 Subject: [PATCH] 1 --- src/main/java/com/iflytop/a800/task/StartResetTask.java | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/main/java/com/iflytop/a800/task/StartResetTask.java b/src/main/java/com/iflytop/a800/task/StartResetTask.java index 5e2f4ca..b7d3f36 100644 --- a/src/main/java/com/iflytop/a800/task/StartResetTask.java +++ b/src/main/java/com/iflytop/a800/task/StartResetTask.java @@ -5,12 +5,17 @@ import com.iflytop.uf.UfActuatorCmdExecutor; import com.iflytop.uf.model.UfMdbRuntimeVariable; public class StartResetTask extends TaskBase { @Override + public String getTaskName() { + return "StartResetTask"; + } + + @Override public void run() { // 机械臂 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", "pipette_lld_prepare"); // 摇匀 UfActuatorCmdExecutor.execute("MotorTubeMoveUpDown", "step_motor_enable"); @@ -26,6 +31,8 @@ public class StartResetTask extends TaskBase { UfActuatorCmdExecutor.execute("ServoTubeCapClip", "mini_servo_move_to","1800"); // 出入料 + UfActuatorCmdExecutor.execute("MotorTubeRackExit","module_set_reg", "10154,100"); + UfActuatorCmdExecutor.execute("MotorTubeRackFeed","module_set_reg", "10154,100"); UfActuatorCmdExecutor.execute("MotorTubeRackMove", "motor_easy_move_to_zero"); UfActuatorCmdExecutor.execute("ServoTubeRackTubeRotate", "mini_servo_enable", "1");