修改移液枪lld时吸液速度

src/main/java/a8k/app/hardware/type/A8kEcode.java

@@ -166,7 +166,7 @@ public enum A8kEcode {
 	LOW_ERROR_PIPETTE_ERROR_INVALID_ARG(1403),
 	LOW_ERROR_PIPETTE_ERROR_PRESSURE_SENSOR_ERROR(1404),
 	LOW_ERROR_PIPETTE_ERROR_OVER_PRESSURE(1405),
-	LOW_ERROR_PIPETTE_ERROR_LLD_ERROR(1406),
+	LOW_ERROR_PIPETTE_ERROR_LLD_ERROR(1406), //一般为lld时移液枪吸液过快，导致很快到达最大行程
 	LOW_ERROR_PIPETTE_ERROR_DEVICE_NOT_INIT(1407),
 	LOW_ERROR_PIPETTE_ERROR_TIP_POP_ERROR(1408),
 	LOW_ERROR_PIPETTE_ERROR_PUMP_OVERLOAD(1409),

src/main/java/a8k/app/service/lowerctrl/LiquidOperationCtrlService.java

@@ -33,7 +33,7 @@ public class LiquidOperationCtrlService {
 	static public final Integer helicalPitch = 20;
 
 	static public final Integer lldZmotorVmax  = 50 * 80 / helicalPitch;
-	static public final Integer lldGunPumpVmax = 50 * 80 / helicalPitch;
+	static public final Integer lldGunPumpVmax = 40;
 
 	static public final Integer aspiratePumpVmax = 100;
 	static public final Integer reactionVolumeUL = 75;
@@ -162,7 +162,7 @@ public class LiquidOperationCtrlService {
 		//
 		//清空tip中的液体和空气，同时预先吸入部分空气，以便后续清空由于lld吸入的液体，提高lld的准确性
 		lddprepare();
-		ldd(largeBottlePos.z, 1000, 30);
+		ldd(largeBottlePos.z, largeBottleEndPos.z, 30);
 		if (pipetteCtrlDriver.lldIsDetectLiquid() && gstate.isInMode(DeviceRunMode.RealMode)) {
 			throw AppException.of(A8kEcode.APPE_TAKE_LARGE_BUFFER_LIQUID_FAIL);
 		}
@@ -236,7 +236,7 @@ public class LiquidOperationCtrlService {
 		//lld
 		//清空tip中的液体和空气，同时预先吸入部分空气，以便后续清空由于lld吸入的液体，提高lld的准确性
 		lddprepare();
-		ldd(sampleStartPos.z, sampleEndZPos, 20);
+		ldd(sampleStartPos.z, sampleEndZPos, 30);
 		if (!pipetteCtrlDriver.lldIsDetectLiquid() && gstate.isInMode(DeviceRunMode.RealMode)) {
 			throw AppException.of(A8kEcode.APPE_TAKE_SAMPLE_FAIL);
 		}
@@ -339,14 +339,23 @@ public class LiquidOperationCtrlService {
 	private void ldd(Integer startpos, Integer maxpos, Integer p_threshold) throws AppException {
 		log.info("lld: startpos={}, maxpos={}, p_threshold={}", startpos, maxpos, p_threshold);
 
-		pipetteCtrlDriver.zMotorMoveToBlock(startpos);
-
+		//:TODO 临时注释掉lld代码
+		//		pipetteCtrlDriver.zMotorMoveToBlock(startpos);
+		//
 		pipetteCtrlDriver.liquidOperationClearParams();
 		pipetteCtrlDriver.liquidOperationSetGunRunParams(14, 14, 0, 1000, lldGunPumpVmax);
-		pipetteCtrlDriver.liquidOperationSetZMotorRunParams(0, maxpos, lldZmotorVmax);
+		pipetteCtrlDriver.liquidOperationSetZMotorRunParams(startpos, maxpos, lldZmotorVmax);
 		pipetteCtrlDriver.liquidOperationFreshParams();
 
-		pipetteCtrlDriver.pipetteLld(LldType.kplld, 0, p_threshold);
+		try {
+			pipetteCtrlDriver.pipetteLld(LldType.kplld, 0, p_threshold);
+		} catch (AppException e) {
+			if (e.getError().eq(A8kEcode.LOW_ERROR_PIPETTE_ERROR_LLD_ERROR)) {
+				log.info("lld error: {}", e.getMessage());
+				return;
+			}
+			throw e;
+		}
 	}
 
 	private void makeReserveAir(Integer ul) throws AppException {