fix xy motor bug

components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -437,7 +437,6 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
       ZLOGE(TAG, "find zero point fail");
       return err::kce_y_leave_away_zero_point_fail;
     }
-
   }
 
   if (m_Ygpio->getState()) {
@@ -460,7 +459,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
       return err::kce_y_leave_away_zero_point_fail;
     }
   }
-  
+
   return 0;
 }
 
@@ -525,11 +524,11 @@ void XYRobotCtrlModule::inverse_kinematics(int32_t m1pos, int32_t m2pos, int32_t
     x = m1pos + m2pos;
     y = m1pos - m2pos;
   }
-  if (m_basecfg.x_shaft) x = -x;
-  if (m_basecfg.y_shaft) y = -y;
-
   x += m_basecfg.shift_x;
   y += m_basecfg.shift_y;
+  
+  if (m_basecfg.x_shaft) x = -x;
+  if (m_basecfg.y_shaft) y = -y;
 }
 void XYRobotCtrlModule::forward_kinematics(int32_t x, int32_t y, int32_t& m1pos, int32_t& m2pos) {
   if (m_basecfg.x_shaft) x = -x;