update

README.md

@@ -169,6 +169,11 @@ step_winding_lineend_prepare 1
 step_winding_lineend
 step_winding_take_bullet_from_cooking_to_origin_pos 1
 
+
+¸¨Öú
+step_take_back_bullet 1
+
+
 ```
 
 ```

usrc/intelligent_winding_robot_ctrl.cpp

@@ -90,8 +90,12 @@ class WidthDetector {
     m_dm->motor_move_to(14, cfg->m14_raoxiantance_reset_pos, 30, 0);
     g_isrunning = true;
   }
+  void start_run_forward_slow() {
+    m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 30, 0);
+    g_isrunning = true;
+  }
   void start_run_forward() {
-    m_dm->motor_move_to_torque(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 330, 0);
+    m_dm->motor_move_to(14, cfg->m14_raoxiantance_tance_zero_pos + 100, 330, 0);
     g_isrunning = true;
   }
   void stop_run() {
@@ -99,7 +103,7 @@ class WidthDetector {
     g_isrunning = false;
   }
 
-  void startDetect() {
+  void startDetect(bool forward = false) {
     m_detect_thread.stop();
     m14_raoxiantance_move_to_reset();
     wait_module_idle(14);
@@ -137,17 +141,31 @@ class WidthDetector {
       zos_delay(3);
     }
 
-    m_detect_thread.start([this]() {
-      while (!m_detect_thread.getExitFlag()) {
-        if (g_isrunning && getDetectGPIOState() == 0) {
-          stop_run();
-          m_dm->motor_read_pos(14, &g_nowpos);
-          g_nowdpos = cfg->m14_raoxiantance_tance_zero_pos - g_nowpos;
-          ZLOGI(TAG, "--------------now pos %d bullet width %d", g_nowpos, g_nowdpos);
-        } else if (!g_isrunning && getDetectGPIOState() != 0) {
-          start_run_back();
+    m_detect_thread.start([this, forward]() {
+      if (!forward) {
+        while (!m_detect_thread.getExitFlag()) {
+          if (g_isrunning && getDetectGPIOState() == 0) {
+            stop_run();
+            m_dm->motor_read_pos(14, &g_nowpos);
+            g_nowdpos = cfg->m14_raoxiantance_tance_zero_pos - g_nowpos;
+            ZLOGI(TAG, "--------------now pos %d bullet width %d", g_nowpos, g_nowdpos);
+          } else if (!g_isrunning && getDetectGPIOState() != 0) {
+            start_run_back();
+          }
+          zos_delay(3);
+        }
+      } else {
+        while (!m_detect_thread.getExitFlag()) {
+          if (g_isrunning && getDetectGPIOState() != 0) {
+            stop_run();
+            m_dm->motor_read_pos(14, &g_nowpos);
+            g_nowdpos = cfg->m14_raoxiantance_tance_zero_pos - g_nowpos;
+            ZLOGI(TAG, "--------------now pos %d bullet width %d", g_nowpos, g_nowdpos);
+          } else if (!g_isrunning && getDetectGPIOState() == 0) {
+            start_run_forward_slow();
+          }
+          zos_delay(3);
         }
-        zos_delay(3);
       }
     });
   }
@@ -178,10 +196,10 @@ int32_t IntelligentWindingRobotCtrl::initialize(APPDM* dm, ICmdParser* cmdparse)
 }
 
 int32_t IntelligentWindingRobotCtrl::initialize_device() {
-  cfg.xy_platform_takeline_clip00_pos_x = 1736;
-  cfg.xy_platform_takeline_clip00_pos_y = 16853;
-  cfg.xy_platform_takeline_clipXX_pos_x = 52307;
-  cfg.xy_platform_takeline_clipXX_pos_y = 31993;
+  cfg.xy_platform_takeline_clip00_pos_x = 1833;
+  cfg.xy_platform_takeline_clip00_pos_y = 16819;
+  cfg.xy_platform_takeline_clipXX_pos_x = 52381;
+  cfg.xy_platform_takeline_clipXX_pos_y = 32087;
   cfg.clip_line                         = 12;
   cfg.clip_each_line_num                = 5;
 
@@ -196,7 +214,7 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
   cfg.m13_yaxian_forward_reset_pos  = 1015;
   cfg.m13_yaxian_backward_reset_pos = 2885;
   cfg.m13_jiaxian_clamp_direction   = -1;
-  cfg.m13_jiaxian_clamp_torque      = 500;
+  cfg.m13_jiaxian_clamp_torque      = 600;
 
   cfg.m14_raoxiantance_reset_pos      = 2047;
   cfg.m14_raoxiantance_tance_zero_pos = 2829;
@@ -205,13 +223,14 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
   cfg.m15_paifei_press_direction = 1;
   cfg.m15_paifei_press_torque    = 330;
 
-  cfg.m16_xianlajin_reset_pos              = 2047;
-  cfg.m16_xianlajin_tight_line_pos         = 1966;
-  cfg.m16_xianlajin_winding_low_pos        = 1885;
-  cfg.m16_xianlajin_winding_high_pos       = 1835;
-  cfg.m16_xianlajin_line_entry_pos         = 1800;
-  cfg.m16_xianlajin_cook_line_end_low_pos  = 1820;
-  cfg.m16_xianlajin_cook_line_end_high_pos = 1741;
+  cfg.m16_xianlajin_reset_pos               = 2047;
+  cfg.m16_xianlajin_cook_line_end_ready_pos = 1959;
+  cfg.m16_xianlajin_tight_line_pos          = 1966;
+  cfg.m16_xianlajin_winding_low_pos         = 1885;
+  cfg.m16_xianlajin_winding_high_pos        = 1815;
+  cfg.m16_xianlajin_line_entry_pos          = 1800;
+  cfg.m16_xianlajin_cook_line_end_low_pos   = 1820;
+  cfg.m16_xianlajin_cook_line_end_high_pos  = 1741;
 
   cfg.m21_arm_hook_claws_full_pos = 2558;
   cfg.m21_arm_hook_claws_half_pos = 2194;
@@ -259,31 +278,35 @@ void IntelligentWindingRobotCtrl::regcb() {
 
   // m_cmdparse->regCMD("disable_all_motor", "()", 0, [this](PARAM) { return disable_all_motor(); });
 
-  m_cmdparse->regCMD("app_m11_arm_jiaxian_move_to_reset_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_reset_pos(); });
-  m_cmdparse->regCMD("app_m11_arm_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_clamp_pos(); });
-  m_cmdparse->regCMD("app_m12_jiaxian_move_to_open_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_open_pos(); });
-  m_cmdparse->regCMD("app_m12_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_clamp_pos(); });
-  m_cmdparse->regCMD("app_m13_yaxian_move_to_reset_forward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_forward(); });
-  m_cmdparse->regCMD("app_m13_yaxian_move_to_reset_backward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_backward(); });
-  m_cmdparse->regCMD("app_m13_yaxian_press_clip", "()", 0, [this](PARAM) { return m13_yaxian_press_clip(); });
-  m_cmdparse->regCMD("app_m14_raoxiantance_move_to_reset", "()", 0, [this](PARAM) { return m14_raoxiantance_move_to_reset(); });
-  m_cmdparse->regCMD("app_m15_paifei_moveto_reset", "()", 0, [this](PARAM) { return m15_paifei_moveto_reset(); });
-  m_cmdparse->regCMD("app_m15_paifei_moveto_press", "()", 0, [this](PARAM) { return m15_paifei_moveto_press(); });
-  m_cmdparse->regCMD("app_m16_xianlajin_move_to_reset", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_reset(); });
-  m_cmdparse->regCMD("app_m16_xianlajin_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_tight_line_pos(); });
-  m_cmdparse->regCMD("app_m16_xianlajin_move_to_winding_low_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_low_pos(); });
-  m_cmdparse->regCMD("app_m16_xianlajin_move_to_winding_up_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_up_pos(); });
-  m_cmdparse->regCMD("app_m16_xianlajin_move_to_line_entry_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_line_entry_pos(); });
-
-  m_cmdparse->regCMD("app_m21_arm_hook_claws_reset", "()", 0, [this](PARAM) { return m21_arm_hook_claws_reset(); });
-  m_cmdparse->regCMD("app_m21_arm_hook_claws_move_to_half_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_half_pos(); });
-  m_cmdparse->regCMD("app_m21_arm_hook_claws_move_to_full_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_full_pos(); });
-
-  m_cmdparse->regCMD("app_m22_scissors_move_reset_pos", "()", 0, [this](PARAM) { return m22_scissors_move_reset_pos(); });
-  m_cmdparse->regCMD("app_m22_scissors_cut", "()", 0, [this](PARAM) { return m22_scissors_cut(); });
-  m_cmdparse->regCMD("app_m23_laxian_motor_move_to_reset_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_reset_pos(); });
-  m_cmdparse->regCMD("app_m23_laxian_motor_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_tight_line_pos(); });
+  m_cmdparse->regCMD("m11_arm_jiaxian_move_to_reset_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_reset_pos(); });
+  m_cmdparse->regCMD("m11_arm_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m11_arm_jiaxian_move_to_clamp_pos(); });
+  m_cmdparse->regCMD("m12_jiaxian_move_to_open_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_open_pos(); });
+  m_cmdparse->regCMD("m12_jiaxian_move_to_clamp_pos", "()", 0, [this](PARAM) { return m12_jiaxian_move_to_clamp_pos(); });
+  m_cmdparse->regCMD("m13_yaxian_move_to_reset_forward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_forward(); });
+  m_cmdparse->regCMD("m13_yaxian_move_to_reset_backward", "()", 0, [this](PARAM) { return m13_yaxian_move_to_reset_backward(); });
+  m_cmdparse->regCMD("m13_yaxian_press_clip", "()", 0, [this](PARAM) { return m13_yaxian_press_clip(); });
+  m_cmdparse->regCMD("m14_raoxiantance_move_to_reset", "()", 0, [this](PARAM) { return m14_raoxiantance_move_to_reset(); });
+  m_cmdparse->regCMD("m15_paifei_moveto_reset", "()", 0, [this](PARAM) { return m15_paifei_moveto_reset(); });
+  m_cmdparse->regCMD("m15_paifei_moveto_press", "()", 0, [this](PARAM) { return m15_paifei_moveto_press(); });
+  m_cmdparse->regCMD("m16_xianlajin_move_to_reset", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_reset(); });
+  m_cmdparse->regCMD("m16_xianlajin_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_tight_line_pos(); });
+  m_cmdparse->regCMD("m16_xianlajin_move_to_winding_low_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_low_pos(); });
+  m_cmdparse->regCMD("m16_xianlajin_move_to_winding_up_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_winding_up_pos(); });
+  m_cmdparse->regCMD("m16_xianlajin_move_to_line_entry_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_line_entry_pos(); });
+  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_high_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_high_pos(); });
+  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_low_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_low_pos(); });
+  m_cmdparse->regCMD("m16_xianlajin_move_to_cook_lineend_ready_pos", "()", 0, [this](PARAM) { return m16_xianlajin_move_to_cook_lineend_ready_pos(); });
+
+  m_cmdparse->regCMD("m21_arm_hook_claws_reset", "()", 0, [this](PARAM) { return m21_arm_hook_claws_reset(); });
+  m_cmdparse->regCMD("m21_arm_hook_claws_move_to_half_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_half_pos(); });
+  m_cmdparse->regCMD("m21_arm_hook_claws_move_to_full_pos", "()", 0, [this](PARAM) { return m21_arm_hook_claws_move_to_full_pos(); });
+
+  m_cmdparse->regCMD("m22_scissors_move_reset_pos", "()", 0, [this](PARAM) { return m22_scissors_move_reset_pos(); });
+  m_cmdparse->regCMD("m22_scissors_cut", "()", 0, [this](PARAM) { return m22_scissors_cut(); });
+  m_cmdparse->regCMD("m23_laxian_motor_move_to_reset_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_reset_pos(); });
+  m_cmdparse->regCMD("m23_laxian_motor_move_to_tight_line_pos", "()", 0, [this](PARAM) { return m23_laxian_motor_move_to_tight_line_pos(); });
   m_cmdparse->regCMD("start_probe_bullet_pos", "()", 0, [this](PARAM) { return start_probe_bullet_pos(); });
+  m_cmdparse->regCMD("start_probe_bullet_pos_forward", "()", 0, [this](PARAM) { return start_probe_bullet_pos_forward(); });
 }
 
 void IntelligentWindingRobotCtrl::wait_module_idle(int32_t moduleid) {
@@ -386,7 +409,7 @@ int32_t IntelligentWindingRobotCtrl::device_reset() {
    * 3. M13复位,等待一定时间，查看M13是否复位成功
    * 4. 机械臂复位
    */
-
+  m_dm->module_stop(2);
   enable_all_module();
   m4_zreset();
   m11_arm_jiaxian_move_to_reset_pos();
@@ -420,6 +443,7 @@ int32_t IntelligentWindingRobotCtrl::device_reset() {
 bool IntelligentWindingRobotCtrl::is_hasbullet() { return g_widthDetector.isHasBullet(); }
 
 void IntelligentWindingRobotCtrl::start_probe_bullet_pos() { g_widthDetector.startDetect(); }
+void IntelligentWindingRobotCtrl::start_probe_bullet_pos_forward() { g_widthDetector.startDetect(true); }
 void IntelligentWindingRobotCtrl::stop_probe_bullet_pos() { g_widthDetector.stopDetect(); }
 
 int32_t IntelligentWindingRobotCtrl::m11_arm_jiaxian_move_to_reset_pos() { return m_dm->motor_move_to_torque(11, cfg.m11_arm_jiaxian_reset_pos, 330, 0); }
@@ -440,6 +464,7 @@ int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_line_entry_pos() { re
 
 int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_cook_lineend_high_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_cook_line_end_high_pos, 300, 0); }
 int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_cook_lineend_low_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_cook_line_end_low_pos, 300, 0); }
+int32_t IntelligentWindingRobotCtrl::m16_xianlajin_move_to_cook_lineend_ready_pos() { return m_dm->motor_move_to(16, cfg.m16_xianlajin_cook_line_end_ready_pos, 300, 0); }
 
 int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_reset() { return m_dm->motor_move_to_zero_backward(21, 0, 0, 0, 0); }
 int32_t IntelligentWindingRobotCtrl::m21_arm_hook_claws_move_to_half_pos() { return m_dm->motor_move_to(21, cfg.m21_arm_hook_claws_half_pos, 0, 0); }
@@ -631,22 +656,27 @@ int32_t IntelligentWindingRobotCtrl::step_prepare_remove_line(int32_t bulletinde
 
 int32_t IntelligentWindingRobotCtrl::step_remove_line() {
   ZLOGI(TAG, "step_remove_line");
-  start_probe_bullet_pos();
+  start_probe_bullet_pos_forward();
   m15_paifei_moveto_press();
   WAIT_MODULES_IDLE(15);
 
   m_dm->motor_rotate_acctime(2, -1, 1000, 1000);
-
-  /**
-   * @TODO:添加排线结束检测
-   */
-  for (size_t i = 0; i < 10; i++) {
+  int overtime = 90;
+  for (int i = 0; i < overtime; i++) {
     osDelay(1000);
+    if (g_widthDetector.isRemoveLineEnd()) {
+      ZLOGI(TAG, "detect remove line end");
+      break;
+    }
+    if (i == overtime - 1) {
+      ZLOGI(TAG, "detect remove line end timeout");
+    }
   }
+  osDelay(5000);
   m_dm->module_stop(2);
-  stop_probe_bullet_pos();
   // m15_paifei_moveto_reset();
   m15_paifei_moveto_reset();
+  stop_probe_bullet_pos();
   return 0;
 }
 
@@ -699,17 +729,21 @@ int32_t IntelligentWindingRobotCtrl::step_winding_prepare() {
 }
 
 int32_t IntelligentWindingRobotCtrl::step_winding() {
+  start_probe_bullet_pos();
   m_dm->motor_rotate_acctime(2, 1, 1000, 10000);
   osDelay(1000);
   m23_laxian_motor_move_to_reset_pos();
-  for (size_t i = 0; i < 60; i++) {
+  for (size_t i = 0; i < 80; i++) {  // TODO:60这里是个常量可能会造成绕线提前释放。
     m16_xianlajin_move_to_winding_low_pos();
     WAIT_MODULES_IDLE(16);
     m16_xianlajin_move_to_winding_up_pos();
     WAIT_MODULES_IDLE(16);
+    if (g_widthDetector.isFull()) {
+      break;
+    }
   }
   m_dm->module_stop(2);
-
+  stop_probe_bullet_pos();
   ZLOGI(TAG, "step_winding end....");
   return 0;
 }
@@ -734,6 +768,7 @@ int32_t IntelligentWindingRobotCtrl::step_winding_lineend_prepare(int bulletinde
   xymove_to_bullet_pos(bulletindex);
   substep_zaxis_do_bullet_action(kBulletBulletHolderPos, kTakeBulletCase, kReleaseLine);
   xymove_to(cfg.xy_platform_cook_bullet_pos_x, cfg.xy_platform_cook_bullet_pos_y);
+  m16_xianlajin_move_to_tight_line_pos();
   substep_zaxis_do_bullet_action(kCookPos, kTakeBackBullet, kReleaseLine);
   return 0;
 }
@@ -871,14 +906,18 @@ int32_t IntelligentWindingRobotCtrl::xy_reset() {
 }
 int32_t IntelligentWindingRobotCtrl::setcfg(const char* cfgname, int32_t cfgvalue) { return 0; }
 int32_t IntelligentWindingRobotCtrl::dumpcfg() { return 0; }
+
 int32_t IntelligentWindingRobotCtrl::start_winding() {  //
 
   m_work_thread.start([this]() {
     try {
       ZLOGI(TAG, "start_winding");
+      m_iswinding        = true;
+      m_nowwinding_index = 0;
       device_reset();
       bool hasbullet = false;
       for (size_t i = 0; i < 5 * 12; i++) {
+        m_nowwinding_index = i + 1;
         xymove_to(0, 0);
         step_take_bullet(i);
         step_prepare_remove_line(i, hasbullet);
@@ -899,10 +938,12 @@ int32_t IntelligentWindingRobotCtrl::start_winding() {  //
       ZLOGE(TAG, "work thread catch unkown exception");
     }
     disable_all_module();  // todo : 完成一个无异常版本
+    m_iswinding = false;
   });
   return 0;
 }
 int32_t IntelligentWindingRobotCtrl::stop_winding() {
   m_work_thread.stop();
+  m_iswinding = false;
   return 0;
 }

usrc/intelligent_winding_robot_ctrl.hpp

@@ -68,6 +68,7 @@ class IntelligentWindingRobotCtrl {
     int32_t m16_xianlajin_winding_low_pos;
     int32_t m16_xianlajin_winding_high_pos;
     int32_t m16_xianlajin_line_entry_pos;
+    int32_t m16_xianlajin_cook_line_end_ready_pos;
     int32_t m16_xianlajin_cook_line_end_high_pos;
     int32_t m16_xianlajin_cook_line_end_low_pos;
 
@@ -150,11 +151,21 @@ class IntelligentWindingRobotCtrl {
     kKeepLine,
   } take_bullet_line_acktion_t;
 
+  bool    m_iswinding        = false;
+  int32_t m_nowwinding_index = 0;
+  int32_t m_exception_val    = 0;
+
+  typedef struct {
+    int32_t index;
+  } winding_event_t;
+
  public:
   int32_t initialize(APPDM* dm, ICmdParser* cmdparse);
 
  private:
-  void    start_probe_bullet_pos();
+  void start_probe_bullet_pos();
+  void start_probe_bullet_pos_forward();
+
   void    stop_probe_bullet_pos();
   int32_t get_probe_bullet_pos();
   bool    is_hasbullet();
@@ -173,6 +184,7 @@ class IntelligentWindingRobotCtrl {
   int32_t m14_raoxiantance_move_to_reset();
   int32_t m15_paifei_moveto_reset();
   int32_t m15_paifei_moveto_press();
+
   int32_t m16_xianlajin_move_to_reset();
   int32_t m16_xianlajin_move_to_tight_line_pos();
   int32_t m16_xianlajin_move_to_winding_low_pos();
@@ -180,6 +192,8 @@ class IntelligentWindingRobotCtrl {
   int32_t m16_xianlajin_move_to_line_entry_pos();
   int32_t m16_xianlajin_move_to_cook_lineend_high_pos();
   int32_t m16_xianlajin_move_to_cook_lineend_low_pos();
+  int32_t m16_xianlajin_move_to_cook_lineend_ready_pos();
+
 
   int32_t m21_arm_hook_claws_reset();
   int32_t m21_arm_hook_claws_move_to_half_pos();
@@ -231,6 +245,9 @@ class IntelligentWindingRobotCtrl {
   int32_t dumpcfg();
 
   int32_t do_winding(int32_t index);
+  int32_t get_winding_index() { return m_nowwinding_index; }
+  bool    iswinding() { return m_iswinding; }
+  int32_t get_exception_val() { return m_exception_val; }
 
   void processError(int32_t err);
 };

usrc/main.cpp

@@ -258,7 +258,7 @@ void        Main::run() {
   g_xyrobotctrlmodule.module_set_param(kcfg_motor_y_shift, 0);
   g_xyrobotctrlmodule.module_set_param(kcfg_motor_x_one_circle_pulse, 7344);
   g_xyrobotctrlmodule.module_set_param(kcfg_motor_y_one_circle_pulse, 7344);
-  g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_speed, 50);
+  g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_speed, 80);
   g_xyrobotctrlmodule.module_set_param(kcfg_motor_run_to_zero_dec, 1600);
   g_xyrobotctrlmodule.module_set_param(kcfg_motor_look_zero_edge_speed, 10);
   g_xyrobotctrlmodule.module_set_param(kcfg_motor_look_zero_edge_dec, 1600);
@@ -266,6 +266,7 @@ void        Main::run() {
   g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_acc, 1000);
   g_xyrobotctrlmodule.module_set_param(kcfg_motor_default_dec, 1000);
   g_xyrobotctrlmodule.module_set_param(k_cfg_stepmotor_irun, 4);
+
   g_xyrobotctrlmodule.module_active_cfg();
 
   g_z_step_motor.module_set_param(kcfg_motor_x_shift, 0);
@@ -300,6 +301,7 @@ void        Main::run() {
        */
       [this](const char* cmd, int32_t paramN, const char** paraV) {  //
         ZLOGI(TAG, "process cmd:%s", cmd);
+
       },
       /**
        * @brief ÌÕ¾§³ÛÏûÏ¢½âÎö