xyz_stepper_controller:
  category:
  - laiyu_liquid_test
  class:
    action_value_mappings:
      auto-define_current_as_zero:
        feedback: {}
        goal: {}
        goal_default:
          save_path: work_origin.json
        handles: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                save_path:
                  default: work_origin.json
                  type: string
              required: []
              type: object
            result: {}
          required:
          - goal
          title: define_current_as_zero参数
          type: object
        type: UniLabJsonCommand
      auto-enable:
        feedback: {}
        goal: {}
        goal_default:
          axis: null
          state: null
        handles: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                axis:
                  type: string
                state:
                  type: boolean
              required:
              - axis
              - state
              type: object
            result: {}
          required:
          - goal
          title: enable参数
          type: object
        type: UniLabJsonCommand
      auto-move_to:
        feedback: {}
        goal: {}
        goal_default:
          acc: 500
          axis: null
          precision: 50
          speed: 2000
          steps: null
        handles: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acc:
                  default: 500
                  type: integer
                axis:
                  type: string
                precision:
                  default: 50
                  type: integer
                speed:
                  default: 2000
                  type: integer
                steps:
                  type: integer
              required:
              - axis
              - steps
              type: object
            result: {}
          required:
          - goal
          title: move_to参数
          type: object
        type: UniLabJsonCommand
      auto-move_xyz_work:
        feedback: {}
        goal: {}
        goal_default:
          acc: 1500
          speed: 100
          x: 0.0
          y: 0.0
          z: 0.0
        handles: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acc:
                  default: 1500
                  type: integer
                speed:
                  default: 100
                  type: integer
                x:
                  default: 0.0
                  type: number
                y:
                  default: 0.0
                  type: number
                z:
                  default: 0.0
                  type: number
              required: []
              type: object
            result: {}
          required:
          - goal
          title: move_xyz_work参数
          type: object
        type: UniLabJsonCommand
      auto-return_to_work_origin:
        feedback: {}
        goal: {}
        goal_default:
          acc: 800
          speed: 200
        handles: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                acc:
                  default: 800
                  type: integer
                speed:
                  default: 200
                  type: integer
              required: []
              type: object
            result: {}
          required:
          - goal
          title: return_to_work_origin参数
          type: object
        type: UniLabJsonCommand
      auto-wait_complete:
        feedback: {}
        goal: {}
        goal_default:
          axis: null
          timeout: 30.0
        handles: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                axis:
                  type: string
                timeout:
                  default: 30.0
                  type: string
              required:
              - axis
              type: object
            result: {}
          required:
          - goal
          title: wait_complete参数
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.laiyu_liquid_test.xyz_stepper_driver:XYZStepperController
    status_types:
      status: list
    type: python
  config_info: []
  description: 新XYZ控制器
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        baudrate:
          default: 115200
          type: string
        client:
          type: string
        origin_path:
          default: unilabos/devices/laiyu_liquid_test/work_origin.json
          type: string
        port:
          default: /dev/ttyUSB1
          type: string
      required: []
      type: object
    data:
      properties:
        status:
          type: array
      required:
      - status
      type: object
  registry_type: device
  version: 1.0.0