From 6167c264481c13e5a960a84c7321670a49654c06 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 29 Sep 2023 15:56:37 +0800
Subject: [PATCH] update

---
 .../step_motor_ctrl_module.hpp                     | 38 --------------------
 .../xy_robot_ctrl_module/xy_robot_ctrl_module.hpp  | 42 ----------------------
 2 files changed, 80 deletions(-)

diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
index 39c8c36..d277dee 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.hpp
@@ -46,44 +46,6 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule {
 
  public:
   void initialize(int id, IStepperMotor* stepM, ZGPIO* zero_gpio, ZGPIO* end_gpio);
-#if 0
-  int32_t set_current_pos(int32_t pos);
-  int32_t set_distance_scale(float distance_scale);
-  int32_t set_ihold_irun_iholddelay(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
-  int32_t set_acc(int32_t acc);
-  int32_t set_dec(int32_t dec);
-  int32_t set_speed(int32_t speed);
-  int32_t set_shaft(bool shaft);
-  int32_t set_runtozero_max_distance(int32_t distance);
-  int32_t set_runtozero_speed(int32_t speed);
-  int32_t set_runtozero_dec(int32_t dec);
-  int32_t set_runtozero_leave_away_zero_distance(int32_t distance);
-  int32_t set_zero_shift(int32_t shift);
-  int32_t set_break_dec(int32_t dec);
-
-  void dumpcfg(const char* tag);
-
-  int32_t enable(bool venable);
-  int32_t stop();
-  int32_t brake();
-
-  /*******************************************************************************
-   *                                   ACTION                                    *
-   *******************************************************************************/
-  int32_t move_to(int32_t pos, function<void(int32_t exec_status, int32_t topos)> status_cb);
-  int32_t move_by(int32_t dpos, function<void(int32_t exec_status, int32_t topos)> status_cb);
-  int32_t move_to_zero(function<void(int32_t exec_status, int32_t dpos)> status_cb);
-  int32_t move_to_zero_with_calibrate(int32_t nowpos, function<void(int32_t exec_status, int32_t zero_shift_pos)> status_cb);
-  // int32_t rotate(uint8_t direction, int32_t velocity, int32_t acc);
-
-  /*******************************************************************************
-   *                                    READ                                     *
-   *******************************************************************************/
-
-  int32_t read_status(uint8_t* module_statu, int32_t* pos, int32_t* velocity);
-  int32_t read_gpio_status(bool* zeroio, bool* endio);
-  int32_t get_zero_shift(int32_t* pos);
-#endif
 
   virtual int32_t move_to(int32_t x, function<void(move_to_cb_status_t& status)> status_cb) override;
   virtual int32_t move_by(int32_t dx, function<void(move_by_cb_status_t& status)> status_cb) override;
diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
index 8e89222..8542565 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -83,48 +83,6 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
   int32_t set_run_param( run_param_t& param);
   int32_t set_run_to_zero_param( run_to_zero_param_t& param);
   int32_t set_warning_limit_param( warning_limit_param_t& param);
-#if 0
-  int32_t set_acc(int32_t acc);
-  int32_t set_dec(int32_t dec);
-  int32_t set_speed(int32_t speed);
-  int32_t set_zero_robottype(RobotType_t robot_type);
-  int32_t set_shaft(bool x_shaft, bool y_shaft);
-  int32_t set_zero_shift(int32_t x, int32_t y);
-  int32_t set_runtozero_max_distance(int32_t maxX, int32_t maxY);
-  int32_t set_runtozero_speed(int32_t speed);
-  int32_t set_runtozero_dec(int32_t dec);
-  int32_t set_runtozero_leave_away_zero_distance(int32_t maxXY);
-  int32_t set_distance_scale(float distance_scale);
-  int32_t set_current_pos(int32_t x, int32_t y);
-  int32_t set_ihold_irun_iholddelay(uint8_t ihold, uint8_t irun, uint16_t iholddelay);
-
-  void read_version(kcmd_xy_robot_ctrl_read_version_cmd_t* cmd, kcmd_xy_robot_ctrl_read_version_ack_t* ack);
-  void read_status(kcmd_xy_robot_ctrl_read_status_cmd_t* cmd, kcmd_xy_robot_ctrl_read_status_ack_t* ack);
-  void read_debug_info(kcmd_xy_robot_ctrl_read_debug_info_cmd_t* cmd, kcmd_xy_robot_ctrl_read_debug_info_ack_t* ack);
-  void set_run_param(kcmd_xy_robot_ctrl_set_run_param_cmd_t* cmd, kcmd_xy_robot_ctrl_set_run_param_ack_t* ack);
-  void set_warning_limit_param(kcmd_xy_robot_ctrl_set_warning_limit_param_cmd_t* cmd, kcmd_xy_robot_ctrl_set_warning_limit_param_ack_t* ack);
-  void set_run_to_zero_param(kcmd_xy_robot_ctrl_set_run_to_zero_param_cmd_t* cmd, kcmd_xy_robot_ctrl_set_run_to_zero_param_ack_t* ack);
-
-  void dumpcfg(const char* tag);
-
-  int32_t enable(bool venable);
-  int32_t stop();
-
-  /*******************************************************************************
-   *                                   ACTION                                    *
-   *******************************************************************************/
-  int32_t move_to(int32_t x, int32_t y, function<void(int32_t exec_status, int32_t tox, int32_t toy)> status_cb);
-  int32_t move_by(int32_t dx, int32_t dy, function<void(int32_t exec_status, int32_t tox, int32_t toy)> status_cb);
-  int32_t move_to_zero(function<void(int32_t exec_status, int32_t dx, int32_t dy)> status_cb);
-  int32_t move_to_zero_with_calibrate(int32_t x, int32_t y, function<void(int32_t exec_status, int32_t zero_shift_x, int32_t zero_shift_y)> status_cb);
-
-  /*******************************************************************************
-   *                                    READ                                     *
-   *******************************************************************************/
-
-  int32_t read_status(uint8_t* module_statu, int32_t* x, int32_t* y);
-  int32_t get_zero_shift(int32_t* x, int32_t* y);
-#endif
 
   void loop();