From 584762968681c003e098cc9b0afd454bc4aeb9ca Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 29 Sep 2023 10:46:08 +0800
Subject: [PATCH] update

---
 .clang-format |  2 +-
 sdk           |  2 +-
 usrc/main.cpp | 13 +++++++------
 3 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/.clang-format b/.clang-format
index 1c995cf..4c41736 100644
--- a/.clang-format
+++ b/.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
diff --git a/sdk b/sdk
index e82611f..0ac64e0 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit e82611f05a5999c543c80b7384cd2b4dd8c3a0e2
+Subproject commit 0ac64e0639074c634238995530a40c96c89a7988
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 36c1e1b..0fd6983 100644
--- a/usrc/main.cpp
+++ b/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);