fix some bug

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -388,7 +388,9 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio
   if (direction < 0) {
     targetpos = getnowpos() - m_cfg.io_trigger_append_distance;
   }
+  ZLOGI(TAG, "step4: move to zero point %d", targetpos);
   moveTo(targetpos, m_cfg.motor_default_velocity);
+
   waitforstop(nullptr);
 
   if (m_thread.getExitFlag()) {
@@ -670,7 +672,7 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero_point_quick() {
         bool moveToZero = false;
         do {
           // 期望偏差
-          int32_t expectation_dpos = 0 + m_cfg.motor_dzero - getnowpos();
+          int32_t expectation_dpos = -m_cfg.io_trigger_append_distance + 0 + m_cfg.motor_dzero - getnowpos();
           // 快速移动到零点
           moveTo(0 + m_cfg.motor_dzero, m_cfg.motor_default_velocity);
           // 等待移动到目标点
@@ -683,7 +685,7 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero_point_quick() {
         } while (false);
 
         after_motor_move();
-        if (moveToZero) setnowpos(0 + m_cfg.motor_dzero);
+        if (moveToZero) setnowpos(0 + m_cfg.motor_dzero - m_cfg.io_trigger_append_distance);
       },
       [this]() { m_stepM1->stop(); });
 

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           512
+#define PC_VERSION           513
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1