1.修改lifpin升或降

VirgoRT/Devices/EFEM/Efem.cs

@@ -409,7 +409,7 @@ namespace VirgoRT.Devices.EFEM
                 AddAction(new PinAction(mp.SrcModule, pM, MovementPosition.Up, false, mp.Arm, true));
                 AddAction(new ExtendAction(this, new ExtendParam { Module = mp.SrcModule, Arm = mp.Arm, Pos = ExtendPos.GB }));
 
-                AddAction(new PinAction(mp.SrcModule, pM, MovementPosition.Down, true, mp.Arm, true));
+                AddAction(new PinAction(mp.SrcModule, pM, MovementPosition.Middle, true, mp.Arm, true));
                 AddAction(new ExtendAction(this, new ExtendParam { Module = mp.SrcModule, Arm = mp.Arm, Pos = ExtendPos.G4 }));
             }
             else

VirgoRT/Modules/PMs/PMPrepareTransferRoutine.cs

@@ -157,9 +157,9 @@ namespace VirgoRT.Modules.PMs
         {
             bool Func()
             {
-                Notify($"Set liftPin {(isUp ? "up" : "down")}, set {ws} Pin up, set slit door {(isOpen ? "open" : "close")}");
+                Notify($"Set liftPin {(isUp ? "up" : "middle")}, set {ws} Pin up, set slit door {(isOpen ? "open" : "close")}");
 
-                if (!_chamber.SetLiftPin(isUp ? MovementPosition.Up : MovementPosition.Down, out string reason))
+                if (!_chamber.SetLiftPin(isUp ? MovementPosition.Up : MovementPosition.Middle, out string reason))
                 {
                     Stop(reason);
                     return false;
@@ -173,7 +173,7 @@ namespace VirgoRT.Modules.PMs
             }
             bool? Check1()
             {
-                bool res1 = isUp ? _chamber.CheckLiftUp() : _chamber.CheckLiftDown();
+                bool res1 = isUp ? _chamber.CheckLiftUp() : _chamber.CheckLiftPinPos(MovementPosition.Middle);
                 bool res2 = _chamber.CheckGuidePinIsReadyForTransfer(ws);
 
                 bool res3 = isOpen ? _chamber.CheckSlitDoorOpen() : _chamber.CheckSlitDoorClose();