From 34c66e4991c10b42cf7ee1ef27c975b736047950 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 24 Oct 2023 21:43:21 +0800
Subject: [PATCH] update

---
 usrc/intelligent_winding_robot_ctrl.cpp | 14 ++++++++++----
 1 file changed, 10 insertions(+), 4 deletions(-)

diff --git a/usrc/intelligent_winding_robot_ctrl.cpp b/usrc/intelligent_winding_robot_ctrl.cpp
index c2d2bfc..aa263dd 100644
--- a/usrc/intelligent_winding_robot_ctrl.cpp
+++ b/usrc/intelligent_winding_robot_ctrl.cpp
@@ -82,7 +82,7 @@ int32_t IntelligentWindingRobotCtrl::initialize_device() {
   cfg.xy_platform_takeline_pos_y = 7047;
 
   cfg.xy_platform_enter_line_pos_x = 17625;
-  cfg.xy_platform_enter_line_pos_y = 7001;
+  cfg.xy_platform_enter_line_pos_y = 6851;
   //
   cfg.z_axis_cook_bullet_pos    = 3377;
   cfg.z_axis_take_clip_pos      = 6924;
@@ -464,10 +464,16 @@ int32_t IntelligentWindingRobotCtrl::step_winding_prepare() {
   WAIT_MODULES_IDLE(4);
   xymove_to(cfg.xy_platform_enter_line_pos_x, cfg.xy_platform_enter_line_pos_y);
   WAIT_MODULES_IDLE(3);
-  m_dm->motor_enable(13,0);
-  // m13_yaxian_press_clip();
-  // WAIT_MODULES_IDLE(13);
+  m13_yaxian_press_clip();
+  WAIT_MODULES_IDLE(13);
+  m11_arm_jiaxian_move_to_reset_pos();
+  WAIT_MODULES_IDLE(11);
+  m4_zmove_to(0);
+  osDelay(500);
+  WAIT_MODULES_IDLE(4);
+  xymove_to(0, 0);
 
+  // WAIT_MODULES_IDLE(13);
 }
 
 int32_t IntelligentWindingRobotCtrl::main_shaft_run() {