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sdk

@@ -1 +1 @@
-Subproject commit 4257580790dc2dda82d0b03a1323746f321331b3
+Subproject commit c31beefe2b25c62beb4e5d17f85710cc7214850e

usrc/script_reg.cpp

@@ -38,7 +38,7 @@ extern Main gmain;
 
 using namespace iflytop;
 using namespace std;
-
+#define TAG "CMD"
 extern "C" {}
 /*******************************************************************************
  *                                    ÅäÖÃ                                     *
@@ -236,9 +236,49 @@ void script_reg_fn() {
   });
 
   g_cmdScheduler.regCMD("step_motor_ctrl_move_to_zero", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
-    int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward(4, 0, 0, 0, 0);
+    int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward(4, 450, 300, 2000, 0);
+    ack->setNoneAck(ecode);
+  });
+
+  g_cmdScheduler.regCMD("step_motor_ctrl_move_to_zero_with_calibrate", "(id,x)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+    int32_t x     = atoi(paraV[1]);
+    int32_t ecode = g_zmodule_device_manager.motor_move_to_zero_backward_and_calculated_shift(4, 0, 0, 0, 0);
     ack->setNoneAck(ecode);
   });
 
+  g_cmdScheduler.regCMD("step_motor_ctrl_read_detailed_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+    // g_zmodule_device_script_cmder_paser.motor_read_pos(4);
+  });
+
+  g_cmdScheduler.regCMD("step_motor_ctrl_read_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+    // g_zmodule_device_script_cmder_paser.motor_read_pos(4);
+
+    //
+
+    int32_t pos;
+    int32_t errocode;
+    int32_t status;
+
+    g_zmodule_device_manager.motor_read_pos(4, &pos);
+    g_zmodule_device_manager.module_get_error(4, &errocode);
+    g_zmodule_device_manager.module_get_status(4, &status);
+
+    ZLOGI(TAG, "pos:%d,errocode:%d,status:%d", pos, errocode, status);
   
+
+  });
+
+  // g_cmdScheduler.regCMD("step_motor_ctrl_rotate", "(id,speed,lastforms)", 3, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+  //   int32_t speed     = atoi(paraV[1]);
+  //   int32_t lastforms = atoi(paraV[2]);
+  //   int32_t direction = speed > 0 ? 1 : -1;
+  //   int32_t ecode     = g_zmodule_device_manager.motor_rotate(4,direction ,abs(speed), lastforms);
+  //   ack->setNoneAck(ecode);
+  // });
+
+  g_cmdScheduler.regCMD("step_motor_ctrl_stop", "(id,stop_type)", 2, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+    int32_t stop_type = atoi(paraV[1]);
+    int32_t ecode     = g_zmodule_device_manager.module_stop(4);
+    ack->setNoneAck(ecode);
+  });
 }