From 0740b9d089b9c5ab72ce2ce8549c4e954a4fc4b4 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 25 Jul 2024 09:56:42 +0800
Subject: [PATCH] fix some bug

---
 .../step_motor_ctrl_module/step_motor_ctrl_module.cpp        | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index b2cf7f5..e80e8e7 100644
--- a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -599,9 +599,17 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_move_to_zero() {
   m_thread.start(
       [this]() {
         befor_motor_move();
-        exec_move_to_io_task(0, -1);
+        bool moveToZeroSuc = false;
+        do {
+          if (!exec_move_to_io_task(0, -1)) {
+            break;
+          }
+          moveToZeroSuc = true;
+        } while (false);
         after_motor_move();
-        setnowpos(0 + m_cfg.motor_dzero);
+        if (moveToZeroSuc) {
+          setnowpos(0 + m_cfg.motor_dzero);
+        }
       },
       [this]() { m_stepM1->stop(); });
   return 0;