update

a8000_protocol

@@ -1 +1 @@
-Subproject commit 40ada078fcd4420b6779ba894c5756acf0a071de
+Subproject commit ae58e9ee275d6abdaa78ba2f519d1d87b6e2bf3c

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() {

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;

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) {