调整hbot零点偏移实现方案

sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -232,8 +232,6 @@ int32_t XYRobotCtrlModule::module_set_reg(int32_t regindex, int32_t val) {
     MODULE_REG_CASE__NOT_SUPPORT(kreg_xyrobot_has_move_to_zero);
     MODULE_REG_CASE__NOT_SUPPORT(kreg_xyrobot_is_enable);
 
-
-
     default:
       return err::kmodule_not_find_reg;
       break;
@@ -244,7 +242,6 @@ int32_t XYRobotCtrlModule::module_set_reg(int32_t regindex, int32_t val) {
   return ret;
 }
 int32_t XYRobotCtrlModule::module_get_reg(int32_t regindex, int32_t* val) {
-  
   int32_t ret = 0;
   switch (regindex) {
     MODULE_CFG_CASE__GET_REG_FROM(kreg_xyrobot_robot_type, m_cfg.robot_type);
@@ -281,7 +278,6 @@ int32_t XYRobotCtrlModule::module_get_reg(int32_t regindex, int32_t* val) {
     MODULE_CFG_CASE__GET_REG_FROM(kreg_xyrobot_has_move_to_zero, m_state.has_move_to_zero);
     MODULE_CFG_CASE__GET_REG_FROM(kreg_xyrobot_is_enable, m_state.is_enable);
 
-
     default:
       return err::kmodule_not_find_reg;
       break;
@@ -329,7 +325,7 @@ int32_t XYRobotCtrlModule::do_xymotor_move_to_zero() {
     int32_t ecode = exec_move_to_zero_task();
     after_motor_move();
     if (ecode == 0) {
-      setnowpos(0, 0);
+      setnowpos(0 + m_cfg.shift_x, 0 + m_cfg.shift_y);
       m_state.has_move_to_zero = 1;
     }
     return;
@@ -451,12 +447,12 @@ void XYRobotCtrlModule::inverse_kinematics(int32_t m1pos, int32_t m2pos, int32_t
   if (m_cfg.x_shaft) x = -x;
   if (m_cfg.y_shaft) y = -y;
 
-  x += m_cfg.shift_x;
-  y += m_cfg.shift_y;
+  // x += m_cfg.shift_x;
+  // y += m_cfg.shift_y;
 }
 void XYRobotCtrlModule::forward_kinematics(int32_t x, int32_t y, int32_t& m1pos, int32_t& m2pos) {
-  x -= m_cfg.shift_x;
-  y -= m_cfg.shift_y;
+  // x -= m_cfg.shift_x;
+  // y -= m_cfg.shift_y;
 
   if (m_cfg.x_shaft) x = -x;
   if (m_cfg.y_shaft) y = -y;

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define APP_VERSION           1201
+#define APP_VERSION           1202