1

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");