From 1bd944d7ea168f6378ac8d8da86badf4c2f0ba27 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 28 Dec 2023 10:45:18 +0800
Subject: [PATCH] set xy-hbot setup in disable mode

---
 components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
index b22401d..326cf7a 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -36,15 +36,16 @@ void XYRobotCtrlModule::initialize(int32_t id, IStepperMotor* stepM1, IStepperMo
   } else {
     m_cfg = m_default_cfg;
   }
+  enable(false);
   active_cfg();
   m_stepM1->setScaleDenominator(10);
   m_stepM2->setScaleDenominator(10);
-  enable(true);
   m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
 }
 
 int32_t XYRobotCtrlModule::move_to(int32_t x, int32_t y, int32_t speed, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
+  if (!m_enable) enable(true);
   ZLOGI(TAG, "move_to x:%d y:%d", x, y);
   int runspeed = speed;
   if (speed == 0) {
@@ -85,6 +86,7 @@ int32_t XYRobotCtrlModule::move_to(int32_t x, int32_t y, int32_t speed, action_c
 
 int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
+  if (!m_enable) enable(true);
   ZLOGI(TAG, "move_by_no_limit dx:%d dy:%d", dx, dy);
 
   m_thread.stop();
@@ -117,6 +119,8 @@ int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int32_t spee
 
 int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int32_t speed, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
+  if (!m_enable) enable(true);
+
   ZLOGI(TAG, "move_by dx:%d dy:%d %d", dx, dy, speed);
 
   m_thread.stop();