diff --git a/.settings/stm32cubeide.project.prefs b/.settings/stm32cubeide.project.prefs
index 7576a02..85236e6 100644
--- a/.settings/stm32cubeide.project.prefs
+++ b/.settings/stm32cubeide.project.prefs
@@ -1,5 +1,5 @@
 635E684B79701B039C64EA45C3F84D30=C8B026EBE17C208F17FB66CE4235156C
 66BE74F758C12D739921AEA421D593D3=1
-8DF89ED150041C4CBC7CB9A9CAA90856=E8FBF268A8CF0E2CBEA3C6C3E8CF39D0
-DC22A860405A8BF2F2C095E5B6529F12=E8FBF268A8CF0E2CBEA3C6C3E8CF39D0
+8DF89ED150041C4CBC7CB9A9CAA90856=31CD5EEFA9F35C65D8E334D24F421EB1
+DC22A860405A8BF2F2C095E5B6529F12=E957E899AF7563EEB25643F04F5B7D97
 eclipse.preferences.version=1
diff --git a/sdk b/sdk
index e5b2071..1b8ed02 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit e5b2071e948eae7a72d292abc83094badb699966
+Subproject commit 1b8ed02b9d95727f8a0d32edbf65d1bb4a97ffff
diff --git a/usrc/main.cpp b/usrc/main.cpp
index 0fd6983..63e7ab7 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() {
@@ -96,7 +96,6 @@ void umain() {
     return 123;
   });
 
-
   /*******************************************************************************
    *                            zcanXYRobotCtrlModule                            *
    *******************************************************************************/
@@ -110,22 +109,31 @@ void umain() {
   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);
-  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);
-  // 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);
+  {
+    xyRobotCtrlModule.initialize(&motora, &motorb, &input[6], &input[7], 1.0f);
+    XYRobotCtrlModule::run_param_t param;
+    xyRobotCtrlModule.read_run_param(param);
+    param.robot_type     = XYRobotCtrlModule::corexy;
+    param.distance_scale = 1000;  // = 1.0
+    param.x_shaft        = false;
+    param.y_shaft        = false;
+    param.ihold          = 1;
+    param.irun           = 3;
+    param.maxspeed       = 1000000;
+    param.acc            = 3000000;
+    param.dec            = 3000000;
+    xyRobotCtrlModule.set_run_param(param);
+
+    XYRobotCtrlModule::run_to_zero_param_t run_to_zero_param;
+    xyRobotCtrlModule.read_run_to_zero_param(run_to_zero_param);
+    run_to_zero_param.move_to_zero_max_d    = 5120000;
+    run_to_zero_param.leave_from_zero_max_d = 5120000;
+    run_to_zero_param.speed                 = 30000;
+    run_to_zero_param.dec                   = 600000;
+    xyRobotCtrlModule.set_run_to_zero_param(run_to_zero_param);
+
+    zcanXYRobotCtrlModule.initialize(&zcanCmder, 1, &xyRobotCtrlModule);
+  }
 
   while (true) {
     OSDefaultSchduler::getInstance()->loop();