R axis cycle test speed采用配置项速度

Furnace/FurnaceRT/Equipments/Boats/BoatRAxisMoveCycleTest.cs

@@ -97,12 +97,12 @@ namespace FurnaceRT.Equipments.Boats
 
                 Loop((int)RoutineStep.Loop, _count);
 
-                SetBoatRAxisMove((int)RoutineStep.BoatRAxisMove, _direction, (int)_rotateTime);
-                
+                SetBoatRAxisMove((int)RoutineStep.BoatRAxisMove, _direction, _speed, (int)_rotateTime);
+
                 SetBoatRAxisMoveStop((int)RoutineStep.SetBoatRAxisMoveStop);
 
                 Delay((int)RoutineStep.Delay1, 2);
-               
+
                 Delay((int)RoutineStep.Delay2, _interval);
 
                 SetBoatRAxisHome((int)RoutineStep.BoatRAxisHome, _timeout);
@@ -183,14 +183,14 @@ namespace FurnaceRT.Equipments.Boats
             }
         }
 
-        private void SetBoatRAxisMove(int id, BoatRotationDirection direction, int timeout)
+        private void SetBoatRAxisMove(int id, BoatRotationDirection direction, float speed, int timeout)
         {
             Tuple<bool, Result> ret = ExecuteAndWait(id, () =>
             {
                 Notify($"Boat RAxis {direction}");
                 _timer.Restart();
                 string reason;
-                if (!_boatModule.RAxisDevice.SetServoMoveTo(direction.ToString(), out reason))
+                if (!_boatModule.RAxisDevice.SetServoMoveTo(direction.ToString(), out reason, speed))
                 {
                     //_boatModule.BoatDevice.BoatRAxisMoveFailedForInterlock.Description = reason;
                     _boatModule.BoatRAxisMoveFailedForInterlock.Set(reason);