From 855e07612dd6654556ce415ada1148b95c80fcfa Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 6 Sep 2023 05:42:18 +0800
Subject: [PATCH] update

---
 usrc/main.cpp | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/usrc/main.cpp b/usrc/main.cpp
index fd9dedd..5ac500c 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -149,6 +149,24 @@ void regfn() {
   cmdScheduler.registerCmd("help",  //
                            [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) { ZLOGI(TAG, "do_help"); });
 
+  cmdScheduler.registerCmd("stepmotor45_wait_to_reach_pos", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
+    // stepmotor45_rotate motorid direction
+    CHECK_ARGC(2);
+    int motorid = atoi(argv[1]);
+
+    if (motorid < 1 || motorid > 6) {
+      ZLOGE(TAG, "motorid out of range");
+      return;
+    }
+    while (true) {
+      if (g_step_motor45[motorid].isReachTargetPos()) {
+        break;
+      }
+      ZLOGI(TAG, "stepmotor45_wait_to_reach_pos %d", motorid);
+      osDelay(100);
+    }
+  });
+
   // stepmotor45
   cmdScheduler.registerCmd("stepmotor45_rotate", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
     // stepmotor45_rotate motorid direction