diff --git a/.clang-format b/.clang-format
index 73d1b82..1c995cf 100644
--- a/.clang-format
+++ b/.clang-format
@@ -2,7 +2,7 @@
 # http://clang.llvm.org/docs/ClangFormatStyleOptions.html
 Language: Cpp
 BasedOnStyle: Google
-ColumnLimit: 210
+ColumnLimit: 250
 AlignConsecutiveMacros: true
 AlignConsecutiveDeclarations: true
 AlignConsecutiveAssignments:  true
diff --git a/sdk b/sdk
index 967d39b..e82611f 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 967d39b1f8cac49b7a1bfd1ca491dd7cc1e4b97e
+Subproject commit e82611f05a5999c543c80b7384cd2b4dd8c3a0e2
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 603ef3a..36c1e1b 100644
--- a/usrc/main.cpp
+++ b/usrc/main.cpp
@@ -50,6 +50,7 @@ void umain() {
         .driverIC_resetPin = PinNull,                    //
     };
     motora.initialize(&cfg);
+    motora.setMotorShaft(false);
     ZLOGI(TAG, "motora initialize TMC4361A:%x DriverIC:%x", motora.readICVersion(), motora.readSubICVersion());
   }
 
@@ -64,6 +65,7 @@ void umain() {
         .driverIC_resetPin = PinNull,                    //
     };
     motorb.initialize(&cfg);
+    motorb.setMotorShaft(false);
     ZLOGI(TAG, "motorb initialize TMC4361A:%x DriverIC:%x", motorb.readICVersion(), motorb.readSubICVersion());
   }
 
@@ -102,13 +104,36 @@ void umain() {
   /*******************************************************************************
    *                            zcanXYRobotCtrlModule                            *
    *******************************************************************************/
-  xyRobotCtrlModule.initialize(&motora, &motorb, NULL, NULL, 1.0f);
+  ZGPIO input[8];
+  input[0].initAsInput(ARM_SENSOR1_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  input[1].initAsInput(ARM_SENSOR2_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  input[2].initAsInput(ARM_SENSOR3_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  input[3].initAsInput(ARM_SENSOR4_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  input[4].initAsInput(ARM_SENSOR5_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  input[5].initAsInput(ARM_SENSOR6_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  input[6].initAsInput(ARM_SENSOR7_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+  input[7].initAsInput(ARM_SENSOR8_GPIO, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+
+  xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], 1.0f);
   zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
 
+  // ARM_SENSOR1_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
+  // ARM_SENSOR2_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
+  // ARM_SENSOR3_GPIO.initAsInput();
+  // ARM_SENSOR4_GPIO.initAsInput();
+  // ARM_SENSOR5_GPIO.initAsInput();
+  // ARM_SENSOR6_GPIO.initAsInput();
+  // ARM_SENSOR7_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
+  // ARM_SENSOR8_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
+
   while (true) {
     OSDefaultSchduler::getInstance()->loop();
     zcanCmder.loop();
-    // zcanCmder.sendPacket(data, 4);
-    // osDelay(100);
+// zcanCmder.sendPacket(data, 4);
+#if 0
+    osDelay(100);
+    ZLOGI(TAG, "input:%d %d %d %d %d %d %d %d",  //
+          input[0].getState(), input[1].getState(), input[2].getState(), input[3].getState(), input[4].getState(), input[5].getState(), input[6].getState(), input[7].getState());
+#endif
   }
 }
diff --git a/usrc/project_configs.h b/usrc/project_configs.h
index 93b3aa7..710a222 100644
--- a/usrc/project_configs.h
+++ b/usrc/project_configs.h
@@ -31,4 +31,13 @@
 #define TMC_MOTOR2_nFREEZE_IO     PC6
 #define TMC_MOTOR2_nRESET_IO      PB2
 #define TMC_MOTOR2_SUB_IC_ENN_IO  PC7
-#define TMC_MOTOR2_ENN_IO  // unused
\ No newline at end of file
+#define TMC_MOTOR2_ENN_IO  // unused
+
+#define ARM_SENSOR1_GPIO PD0
+#define ARM_SENSOR2_GPIO PD1
+#define ARM_SENSOR3_GPIO PD2
+#define ARM_SENSOR4_GPIO PD3
+#define ARM_SENSOR5_GPIO PD4
+#define ARM_SENSOR6_GPIO PD5
+#define ARM_SENSOR7_GPIO PD6
+#define ARM_SENSOR8_GPIO PD7