update

components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -537,3 +537,14 @@ int32_t XYRobotCtrlModule::xymotor_set_pos(int32_t x, int32_t y) {
   setnowpos(x, y);
   return 0;
 }
+
+int32_t XYRobotCtrlModule::xymotor_motor_move_by_direct(int32_t motor1_dpos, int32_t motor2_dpos) {
+  m_stepM1->moveBy(motor1_dpos, m_cfg.default_velocity);
+  m_stepM2->moveBy(motor2_dpos, m_cfg.default_velocity);
+  return 0;
+}
+int32_t XYRobotCtrlModule::xymotor_read_enc_direct(int32_t* enc1, int32_t* enc2) {
+  *enc1 = m_stepM1->read_enc_val();
+  *enc2 = m_stepM2->read_enc_val();
+  return 0;
+}

components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp

@@ -101,6 +101,9 @@ class XYRobotCtrlModule : public ZIXYMotor, public ZIModule {
   virtual int32_t xymotor_read_inio_index_in_stm32(int32_t ioindex, int32_t* val) override;
   virtual int32_t xymotor_set_pos(int32_t x, int32_t y) override;
 
+  virtual int32_t xymotor_motor_move_by_direct(int32_t motor1_dpos, int32_t motor2_dpos) override;
+  virtual int32_t xymotor_read_enc_direct(int32_t* enc1, int32_t* enc2) override;
+
  private:
   int32_t do_public_check();
   int32_t do_xymotor_move_to(int32_t x, int32_t y);

components/zcancmder/zcan_protocol_parser.cpp

@@ -102,6 +102,8 @@ void ZCanProtocolParser::initialize(IZCanReceiver* cancmder) {
   REGFN(xymotor_read_inio);
   REGFN(xymotor_read_inio_index_in_stm32);
   REGFN(xymotor_set_pos);
+  REGFN(xymotor_motor_move_by_direct);
+  REGFN(xymotor_read_enc_direct);
 
 #if 1
   REGFN(a8000_optical_module_power_ctrl);

components/zcancmder/zcan_protocol_parser.hpp

@@ -141,6 +141,8 @@ class ZCanProtocolParser : public IZCanReceiverListener {
   CMDFN(xymotor_read_inio);
   CMDFN(xymotor_read_inio_index_in_stm32);
   CMDFN(xymotor_set_pos);
+  CMDFN(xymotor_motor_move_by_direct);
+  CMDFN(xymotor_read_enc_direct);
 
 #if 1
   CMDFN(a8000_optical_module_power_ctrl);