update

api/i_pipette_module.hpp

@@ -13,11 +13,7 @@ class I_PipetteModule {
  public:
 #pragma pack(1)
 
-  ZSTRUCT(base_param_t,
-          int16_t take_tip_height_mm;    //
-          int16_t remove_tip_height_mm;  //
-          int16_t transfer_height_mm;    //
-          int16_t tiphight;);
+  ZSTRUCT(base_param_t, int16_t pad;);
 
   typedef struct {
     uint8_t status;      // 设备状态

api/i_step_motor_ctrl_module.hpp

@@ -66,8 +66,11 @@ class I_StepMotorCtrlModule {
   virtual bool    isbusy()               = 0;
   virtual int32_t get_last_exec_status() = 0;
 
-  virtual int32_t move_to(int32_t x, action_cb_status_t status_cb)                       = 0;
-  virtual int32_t move_by(int32_t dx, action_cb_status_t status_cb)                      = 0;
+  virtual int32_t move_to(int32_t x, action_cb_status_t status_cb)                    = 0;
+  virtual int32_t move_by(int32_t dx, action_cb_status_t status_cb)                   = 0;
+  virtual int32_t move_to(int32_t velocity, int32_t x, action_cb_status_t status_cb)  = 0;
+  virtual int32_t move_by(int32_t velocity, int32_t dx, action_cb_status_t status_cb) = 0;
+
   virtual int32_t move_to_zero(action_cb_status_t status_cb)                             = 0;
   virtual int32_t move_to_zero_with_calibrate(int32_t x, action_cb_status_t status_cb)   = 0;
   virtual int32_t rotate(int32_t speed, int32_t lastforms, action_cb_status_t status_cb) = 0;
@@ -77,6 +80,8 @@ class I_StepMotorCtrlModule {
 
   virtual int32_t move_to_block(int32_t tox)                   = 0;
   virtual int32_t move_by_block(int32_t dx)                    = 0;
+  virtual int32_t move_to_block(int32_t velocity, int32_t tox) = 0;
+  virtual int32_t move_by_block(int32_t velocity, int32_t dx)  = 0;
   virtual int32_t move_to_zero_block()                         = 0;
   virtual int32_t move_to_zero_with_calibrate_block(int32_t x) = 0;
 
@@ -84,6 +89,8 @@ class I_StepMotorCtrlModule {
   virtual int32_t read_status(status_t& status)                       = 0;
   virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0;
 
+  virtual int32_t read_pos(int32_t& pos) = 0;
+
   virtual int32_t set_base_param(const base_param_t& param) = 0;
   virtual int32_t get_base_param(base_param_t& param)       = 0;
 };