v1011 | 修复step_motor_ctrl_module 编码器不同步的BUG

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -610,7 +610,7 @@ int32_t StepMotorCtrlModule::do_step_motor_easy_rotate(int32_t direction) {
         befor_motor_move();
         {
           // rotate(direction, m_cfg.motor_default_velocity);
-          m_stepM1->rotate(direction >= 0 ? m_cfg.motor_default_velocity : -m_cfg.motor_default_velocity);
+          rotateInVelocityMode(direction >= 0 ? m_cfg.motor_default_velocity : -m_cfg.motor_default_velocity);
 
           while (true) {
             if (m_thread.getExitFlag()) break;
@@ -790,9 +790,15 @@ int32_t StepMotorCtrlModule::moveTo(int32_t x, int32_t v) {
   return 0;
 }
 int32_t StepMotorCtrlModule::rotate(int32_t direction, int32_t v) {
+  trysyncpos();
   m_stepM1->moveToEnd(direction, v);
   return 0;
 }
+int32_t StepMotorCtrlModule::rotateInVelocityMode(int32_t v) {
+  trysyncpos();
+  m_stepM1->rotate(v);
+  return 0;
+}
 
 int32_t StepMotorCtrlModule::update_dzero(int32_t dzero) {
   int32_t now;

sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -149,6 +149,7 @@ class StepMotorCtrlModule : public ZIModule {
   int32_t moveTo(int32_t x, int32_t v);
   int32_t moveBy(int32_t dx, int32_t v);
   int32_t rotate(int32_t direction, int32_t v);
+  int32_t rotateInVelocityMode(int32_t v);
 
   int32_t update_dzero(int32_t dzero);
   bool    waitforstop(function<bool()> checkstop, int checkperiod = 20);

usrc/version.h

@@ -1,2 +1,2 @@
 #pragma once
-#define PC_VERSION           1010
+#define PC_VERSION           1011