update

.clang-format

@@ -2,7 +2,7 @@
 # http://clang.llvm.org/docs/ClangFormatStyleOptions.html
 Language: Cpp
 BasedOnStyle: Google
-ColumnLimit: 250
+ColumnLimit: 300
 AlignConsecutiveMacros: true
 AlignConsecutiveDeclarations: true
 AlignConsecutiveAssignments:  true

sdk

@@ -1 +1 @@
-Subproject commit e82611f05a5999c543c80b7384cd2b4dd8c3a0e2
+Subproject commit 0ac64e0639074c634238995530a40c96c89a7988

usrc/main.cpp

@@ -22,7 +22,7 @@ static TMC4361A              motora;
 static TMC4361A              motorb;
 static ZCanCmder             zcanCmder;
 static ZCanBasicOrderModule  zcanBasicOrderModule;
-static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
+// static ZCANXYRobotCtrlModule zcanXYRobotCtrlModule;
 static XYRobotCtrlModule     xyRobotCtrlModule;
 
 void umain() {
@@ -96,10 +96,6 @@ void umain() {
     return 123;
   });
 
-  uint16_t maincmdid = (((uint32_t)kcmd_xy_robot_ctrl_enable) >> 8) & 0xFFFF;
-  uint8_t  subcmdId  = (((uint32_t)kcmd_xy_robot_ctrl_enable)) & 0xFF;
-
-  printf("maincmdid:%d subcmdId:%d\n", maincmdid, subcmdId);
 
   /*******************************************************************************
    *                            zcanXYRobotCtrlModule                            *
@@ -115,7 +111,12 @@ void umain() {
   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);
+  xyRobotCtrlModule.set_speed(1000000);
+  xyRobotCtrlModule.set_acc(3000000);
+  xyRobotCtrlModule.set_dec(3000000);
+  xyRobotCtrlModule.set_zero_robottype(xyRobotCtrlModule.corexy);
+  xyRobotCtrlModule.set_shaft(false, false);
+  // zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
 
   // ARM_SENSOR1_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);
   // ARM_SENSOR2_GPIO.initAsInput(STM32_GPIO::kInput_risingAndFallingIrq, true);