update

api/apibasic/errorcode.cpp

@@ -36,6 +36,8 @@ static ecode_table_item_t table[] = {
     ERR_ITERM(kxymotor_y_find_zero_edge_fail),
     ERR_ITERM(kxymotor_not_enable),
     ERR_ITERM(kxymotor_target_pos_outof_range),
+    ERR_ITERM(kxymotor_not_move_to_zero),
+    
     ERR_ITERM(kpipette_error_NoError),
     ERR_ITERM(kpipette_error_InitFail),
     ERR_ITERM(kpipette_error_InvalidCmd),
@@ -74,6 +76,7 @@ static ecode_table_item_t table[] = {
     ERR_ITERM(kstep_motor_uv_cp),
     ERR_ITERM(kstep_motor_not_found_point_edge),
     ERR_ITERM(kstep_motor_lost_step),
+    ERR_ITERM(kstep_motor_not_move_to_zero),
     ERR_ITERM(kmini_servo_not_enable),
     ERR_ITERM(kmini_servo_mode_not_support),
     ERR_ITERM(kfan_hardware_fault),

api/apibasic/errorcode.hpp

@@ -35,6 +35,7 @@ typedef enum {
   kxymotor_y_find_zero_edge_fail  = 1307,
   kxymotor_not_enable             = 1308,
   kxymotor_target_pos_outof_range = 1309,
+  kxymotor_not_move_to_zero       = 1310,
 
   kpipette_error_NoError             = 1400,
   kpipette_error_InitFail            = 1401,
@@ -76,6 +77,7 @@ typedef enum {
   kstep_motor_uv_cp                = 1609,
   kstep_motor_not_found_point_edge = 1610,
   kstep_motor_lost_step            = 1611,
+  kstep_motor_not_move_to_zero     = 1612,
 
   kmini_servo_not_enable       = 1700,
   kmini_servo_mode_not_support = 1701,

api/apibasic/reg_index.cpp

@@ -59,6 +59,7 @@ static reginfo_t table[] = {
 
     REG_ITERM(kreg_xyrobot_io_state),
     REG_ITERM(kreg_xyrobot_is_enable),
+    REG_ITERM(kreg_xyrobot_has_move_to_zero),
     REG_ITERM(kreg_xyrobot_robot_type),
     REG_ITERM(kreg_xyrobot_one_circle_pulse),
     REG_ITERM(kreg_xyrobot_one_circle_pulse_denominator),
@@ -93,6 +94,7 @@ static reginfo_t table[] = {
     REG_ITERM(kreg_step_motor_pos),
     REG_ITERM(kreg_step_motor_is_enable),
     REG_ITERM(kreg_step_motor_dpos),
+    REG_ITERM(kreg_step_motor_has_move_zero),
     REG_ITERM(kreg_step_motor_shift),
     REG_ITERM(kreg_step_motor_shaft),
     REG_ITERM(kreg_step_motor_one_circle_pulse),

api/apibasic/reg_index.hpp

@@ -90,6 +90,7 @@ typedef enum {
 
   kreg_xyrobot_io_state                     = 9900,   //
   kreg_xyrobot_is_enable                    = 9901,   //
+  kreg_xyrobot_has_move_to_zero             = 9902,   //
   kreg_xyrobot_robot_type                   = 9950,   //
   kreg_xyrobot_one_circle_pulse             = 9951,   //
   kreg_xyrobot_one_circle_pulse_denominator = 9952,   //
@@ -128,6 +129,7 @@ typedef enum {
   kreg_step_motor_pos                          = 10101,  // 机器人x坐标
   kreg_step_motor_is_enable                    = 10102,  // 步进电机是否使能
   kreg_step_motor_dpos                         = 10103,  // 执行完上一条指令后的相对位移
+  kreg_step_motor_has_move_zero                = 10104,  // 是否回零
   kreg_step_motor_shift                        = 10150,  // x偏移
   kreg_step_motor_shaft                        = 10151,  // x轴是否反转
   kreg_step_motor_one_circle_pulse             = 10152,  // x轴一圈脉冲数

api/zi_motor.hpp

@@ -143,6 +143,7 @@ class ZIStepMotor {
 
   virtual int32_t step_motor_easy_reciprocating_motion(int32_t startpos, int32_t endpos, int32_t times) = 0;
 
+
   /***********************************************************************************************************************
    *                                                        DEBUG                                                        *
    ***********************************************************************************************************************/