update

2 years ago · 6dbc5fa5c7
1 changed files with 5 additions and 1 deletions
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@ -107,11 +107,15 @@ int32_t XYRobotCtrlModule::move_by_no_limit(int32_t dx, int32_t dy, int speed, a

 int32_t XYRobotCtrlModule::move_by(int32_t dx, int32_t dy, int speed, action_cb_status_t status_cb) {
  zlock_guard lock(m_lock);
-  ZLOGI(TAG, "move_by dx:%d dy:%d", dx, dy);
+  ZLOGI(TAG, "move_by dx:%d dy:%d %d", dx, dy, speed);

  m_thread.stop();
  _motor_stop();

+  if (speed == 0) {
+    speed = m_cfg.maxspeed;
+  }
+
  if (m_cfg.maxspeed != 0 && speed > m_cfg.maxspeed) {
    speed = m_cfg.maxspeed;
  }