From ef501ad2cf162e3bd21a6e44492f5c9d25f5b4c8 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Mon, 23 Oct 2023 18:42:40 +0800
Subject: [PATCH] update

---
 sdk                 |  2 +-
 usrc/main.cpp       |  9 +++++++--
 usrc/script_reg.cpp | 23 ++++++++++++++++++++---
 3 files changed, 28 insertions(+), 6 deletions(-)

diff --git a/sdk b/sdk
index c31beef..92d3a87 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit c31beefe2b25c62beb4e5d17f85710cc7214850e
+Subproject commit 92d3a87b81b8e5ccf0e7d7c9cdf25987f8993ce0
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 4670a53..adea406 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -211,6 +211,13 @@ void        Main::run() {
    *******************************************************************************/
   g_main_servo_motor.init(2, &g_modbusblockhost, 1);
   g_xyrobotctrlmodule.initialize(3, &m_zcanCommnaderMaster);
+  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_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);
+  g_xyrobotctrlmodule.module_active_cfg();
   g_z_step_motor.initialize(4, &m_zcanCommnaderMaster);
 
   g_mini_servo[0].initialize(11, &g_feiteservomotor_bus, 1);
@@ -260,8 +267,6 @@ void        Main::run() {
   g_mini_servo_motor_script_cmder.regmodule(4, &g_mini_servo[3]);
   g_mini_servo_motor_script_cmder.regmodule(5, &g_mini_servo[4]);
   g_mini_servo_motor_script_cmder.regmodule(6, &g_mini_servo[5]);
-  
-
 
   g_taojingchi_screen_service.initialize(
       &huart5, 1,
diff --git a/usrc/script_reg.cpp b/usrc/script_reg.cpp
index 9dfb528..2c74841 100644
--- a/usrc/script_reg.cpp
+++ b/usrc/script_reg.cpp
@@ -163,7 +163,26 @@ void script_reg_fn() {
   });
 #endif
 
-  g_cmdScheduler.regCMD("xy_robot_ctrl_get_base_param", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { g_zmodule_device_script_cmder_paser.do_dumpconfig(paramN, paraV, ack); });
+  //
+
+  g_cmdScheduler.regCMD("xy_robot_ctrl_read_status", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
+    int32_t x;
+    int32_t y;
+    int32_t errocode;
+    int32_t status;
+
+    g_zmodule_device_manager.xymotor_read_pos(XY_ROBOT_ID, &x, &y);
+    g_zmodule_device_manager.module_get_error(XY_ROBOT_ID, &errocode);
+    g_zmodule_device_manager.module_get_status(XY_ROBOT_ID, &status);
+
+    ZLOGI(TAG, "x,y:%d,%d", x, y);
+    ZLOGI(TAG, "errocode:%d", errocode);
+    ZLOGI(TAG, "status:%d", status);
+
+    g_zmodule_device_script_cmder_paser.do_dumpstate(XY_ROBOT_ID);
+  });
+
+  g_cmdScheduler.regCMD("xy_robot_ctrl_get_base_param", "(id)", 1, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) { g_zmodule_device_script_cmder_paser.do_dumpconfig(XY_ROBOT_ID); });
 
   g_cmdScheduler.regCMD("xy_robot_ctrl_move_by", "(id,dx,dy,v)", 4, [](int32_t paramN, const char** paraV, ICmdParserACK* ack) {
     int32_t dx    = atoi(paraV[1]);
@@ -264,8 +283,6 @@ void script_reg_fn() {
     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) {