From cc812e036efc2fff91daeb3fc1c36f53041fcf74 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sat, 27 Jul 2024 11:24:53 +0800
Subject: [PATCH] update

---
 a8000_protocol                                               | 2 +-
 sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp | 6 +++---
 sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp | 4 ++--
 sdk/components/zcancmder/zcan_protocol_parser.cpp            | 8 ++++----
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/a8000_protocol b/a8000_protocol
index 40ada07..ae58e9e 160000
--- a/a8000_protocol
+++ b/a8000_protocol
@@ -1 +1 @@
-Subproject commit 40ada078fcd4420b6779ba894c5756acf0a071de
+Subproject commit ae58e9ee275d6abdaa78ba2f519d1d87b6e2bf3c
diff --git a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
index cd13bec..d26859d 100644
--- a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -108,7 +108,7 @@ int32_t XYRobotCtrlModule::module_stop() {
   return 0;
 }
 
-int32_t XYRobotCtrlModule::xymotor_move_to(int32_t x, int32_t y, int32_t __) {
+int32_t XYRobotCtrlModule::xymotor_move_to(int32_t x, int32_t y) {
   ZLOGI(TAG, "xymotor_move_to x:%d y:%d ", x, y);
   if (do_public_check() != 0) {
     return do_public_check();
@@ -128,14 +128,14 @@ int32_t XYRobotCtrlModule::xymotor_move_to(int32_t x, int32_t y, int32_t __) {
 
   return do_xymotor_move_to(x, y);
 }
-int32_t XYRobotCtrlModule::xymotor_move_by(int32_t dx, int32_t dy, int32_t __) {
+int32_t XYRobotCtrlModule::xymotor_move_by(int32_t dx, int32_t dy) {
   ZLOGI(TAG, "xymotor_move_by dx:%d dy:%d", dx, dy);
   if (do_public_check() != 0) {
     return do_public_check();
   }
   int32_t x, y;
   getnowpos(x, y);
-  return xymotor_move_to(x + dx, y + dy, __);
+  return xymotor_move_to(x + dx, y + dy);
 }
 
 int32_t XYRobotCtrlModule::xymotor_move_to_zero() {
diff --git a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
index 4a4f1e3..620c37a 100644
--- a/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/sdk/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -95,8 +95,8 @@ class XYRobotCtrlModule : public ZIXYMotor, public ZIModule {
 
  public:
   virtual int32_t xymotor_enable(int32_t enable) override;
-  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) override;
-  virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) override;
+  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy) override;
+  virtual int32_t xymotor_move_to(int32_t x, int32_t y) override;
 
   virtual int32_t xymotor_move_to_zero() override;
   virtual int32_t xymotor_read_pos(int32_t* x, int32_t* y) override;
diff --git a/sdk/components/zcancmder/zcan_protocol_parser.cpp b/sdk/components/zcancmder/zcan_protocol_parser.cpp
index ecde147..fced9c4 100644
--- a/sdk/components/zcancmder/zcan_protocol_parser.cpp
+++ b/sdk/components/zcancmder/zcan_protocol_parser.cpp
@@ -658,13 +658,13 @@ int32_t ZCanProtocolParser::xymotor_enable(cmdcontxt_t* cxt) {
 }
 
 int32_t ZCanProtocolParser::xymotor_move_by(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(3);
-  return module->xymotor_move_by(cxt->params[0], cxt->params[1], cxt->params[2]);
+  CHECK_AND_GET_MODULE(2);
+  return module->xymotor_move_by(cxt->params[0], cxt->params[1]);
 }
 
 int32_t ZCanProtocolParser::xymotor_move_to(cmdcontxt_t* cxt) {
-  CHECK_AND_GET_MODULE(3);
-  return module->xymotor_move_to(cxt->params[0], cxt->params[1], cxt->params[2]);
+  CHECK_AND_GET_MODULE(2);
+  return module->xymotor_move_to(cxt->params[0], cxt->params[1]);
 }
 
 int32_t ZCanProtocolParser::xymotor_move_to_zero(cmdcontxt_t* cxt) {