update

api/apibasic/cmdid.cpp

@@ -29,7 +29,8 @@ static cmdinfo_t table[] = {
     CMD_ITERM(kxymotor_read_inio_index_in_stm32),
     CMD_ITERM(kxymotor_read_inio),
     CMD_ITERM(kxymotor_set_pos),
-    
+    CMD_ITERM(kxymotor_motor_move_by_direct),
+    CMD_ITERM(kxymotor_read_enc_direct),
 
     CMD_ITERM(kpipette_ctrl_init_device),
     CMD_ITERM(kpipette_ctrl_put_tip),

api/apibasic/cmdid.hpp

@@ -34,6 +34,8 @@ typedef enum {
   kxymotor_read_inio_index_in_stm32 = CMDID(3, 7),
   kxymotor_read_inio                = CMDID(3, 8),
   kxymotor_set_pos                  = CMDID(3, 9),
+  kxymotor_motor_move_by_direct     = CMDID(3, 10),  // int32_t motor1_dpos, int32_t motor2_dpos
+  kxymotor_read_enc_direct          = CMDID(3, 11),  // int32_t *enc1, int32_t *enc2
 
   /***********************************************************************************************************************
    *                                                      光学模组                                                       *

api/zi_xymotor.hpp

@@ -17,6 +17,9 @@ class ZIXYMotor {
   virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y)                        = 0;
   virtual int32_t xymotor_set_pos(int32_t x, int32_t y)                           = 0;
 
+  virtual int32_t xymotor_motor_move_by_direct(int32_t motor1_dpos, int32_t motor2_dpos) = 0;
+  virtual int32_t xymotor_read_enc_direct(int32_t *enc1, int32_t *enc2)                  = 0;
+
   virtual int32_t xymotor_read_inio(int32_t ioindex, int32_t *val)                = 0;
   virtual int32_t xymotor_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) = 0;
 };