优化快速归零动作

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -673,10 +673,17 @@ int32_t StepMotorCtrlModule::step_motor_easy_move_to_zero_point_quick() {
         do {
           // 期望偏差
           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
-          if (!waitforstop([this]() { return m_iotable[0].getState(); })) break;
+          if (!m_iotable[0].getState()) {
+            // 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
+            if (!waitforstop([this]() { return m_iotable[0].getState(); })) break;
+          } else {
+            // 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
+            if (!waitforstop([this]() { return !m_iotable[0].getState(); })) break;
+          }
           // 移动到零点
           if (!exec_move_to_io_task(0, -1)) break;
           moveToZero = true;

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           513
+#define PC_VERSION           520
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1