update

sdk

@@ -1 +1 @@
-Subproject commit 07b0889ebd311dc76327ef4243b2cf8f4c425371
+Subproject commit 6fca64edea002a9ce94890cc6bd5adf940c62e52

usrc/main.cpp

@@ -205,22 +205,22 @@ void        Main::run() {
   ZASSERT(g_z_step_motor != nullptr);
 
   g_xyrobotctrlmodule = zcancmder_master::create_xyrobot_ctrl_module(&m_zcanCommnaderMaster, 1);
-  g_mini_servo[0].initialize(&g_feiteservomotor_bus, 1);
-  g_mini_servo[1].initialize(&g_feiteservomotor_bus, 2);
-  g_mini_servo[2].initialize(&g_feiteservomotor_bus, 3);
-  g_mini_servo[3].initialize(&g_feiteservomotor_bus, 4);
-  g_mini_servo[4].initialize(&g_feiteservomotor_bus, 5);
-  g_mini_servo[5].initialize(&g_feiteservomotor_bus, 6);
+  g_mini_servo[0].initialize(1, &g_feiteservomotor_bus, 1);
+  g_mini_servo[1].initialize(2, &g_feiteservomotor_bus, 2);
+  g_mini_servo[2].initialize(3, &g_feiteservomotor_bus, 3);
+  g_mini_servo[3].initialize(4, &g_feiteservomotor_bus, 4);
+  g_mini_servo[4].initialize(5, &g_feiteservomotor_bus, 5);
+  g_mini_servo[5].initialize(6, &g_feiteservomotor_bus, 6);
 
   StepMotor45Scheduler step_motor45_scheduler;
   step_motor45_scheduler.initialize(&htim10);
 
-  g_step_motor45[0].initialize(&step_motor45_scheduler, cfg1);
-  g_step_motor45[1].initialize(&step_motor45_scheduler, cfg2);
-  g_step_motor45[2].initialize(&step_motor45_scheduler, cfg3);
-  g_step_motor45[3].initialize(&step_motor45_scheduler, cfg4);
-  g_step_motor45[4].initialize(&step_motor45_scheduler, cfg5);
-  g_step_motor45[5].initialize(&step_motor45_scheduler, cfg6);
+  g_step_motor45[0].initialize(1,&step_motor45_scheduler, cfg1);
+  g_step_motor45[1].initialize(2,&step_motor45_scheduler, cfg2);
+  g_step_motor45[2].initialize(3,&step_motor45_scheduler, cfg3);
+  g_step_motor45[3].initialize(4,&step_motor45_scheduler, cfg4);
+  g_step_motor45[4].initialize(5,&step_motor45_scheduler, cfg5);
+  g_step_motor45[5].initialize(6,&step_motor45_scheduler, cfg6);
   step_motor45_scheduler.start();
 
   /*******************************************************************************

usrc/step_motor_cmd_reg.cpp

@@ -51,6 +51,7 @@ extern Eq20ServoMotor  g_eq20servomotor;
 extern FeiTeServoMotor g_feiteservomotor;
 }  // namespace iflytop
 
+#if 0
 static bool distance_mm_to_step(int motorid, float distance_mm, int32_t* distance) {
   if (screw_lead.find(motorid) == screw_lead.end()) {
     return false;
@@ -59,6 +60,7 @@ static bool distance_mm_to_step(int motorid, float distance_mm, int32_t* distanc
   *distance  = distance_mm / lead * 51200;
   return true;
 }
+#endif
 
 void step_motor_cmd_reg() {
 #if 0