update

components/step_motor_ctrl_module/step_motor_ctrl_module.cpp

@@ -779,6 +779,9 @@ int32_t StepMotorCtrlModule::motor_move_to_zero_backward(int32_t findzerospeed,
   return move_to_zero(nullptr);
 }
 
+int32_t StepMotorCtrlModule::motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return err::koperation_not_support; }
+int32_t StepMotorCtrlModule::motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) { return move_to_zero_with_calibrate(0, nullptr); }
+
 int32_t StepMotorCtrlModule::motor_read_pos(int32_t* pos) {
   int32_t xnow = 0;
   getnowpos(xnow);

components/step_motor_ctrl_module/step_motor_ctrl_module.hpp

@@ -141,6 +141,9 @@ class StepMotorCtrlModule : public I_StepMotorCtrlModule, public ZIModule, publi
 
   virtual int32_t motor_read_pos(int32_t* pos) override;
 
+  virtual int32_t motor_move_to_zero_forward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
+  virtual int32_t motor_move_to_zero_backward_and_calculated_shift(int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime) override;
+
  private:
   void active_cfg();
 

components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -694,3 +694,9 @@ int32_t XYRobotCtrlModule::xymotor_enable(int32_t varenable) {
 int32_t XYRobotCtrlModule::xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity) { return move_by(dx, dy, motor_velocity, nullptr); }
 int32_t XYRobotCtrlModule::xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity) { return move_to(x, y, motor_velocity, nullptr); }
 int32_t XYRobotCtrlModule::xymotor_move_to_zero() { return move_to_zero(nullptr); }
+
+int32_t XYRobotCtrlModule::xymotor_move_to_zero_and_calculated_shift() { return move_to_zero_with_calibrate(0, 0, nullptr); }
+int32_t XYRobotCtrlModule::xymotor_read_pos(int32_t* x, int32_t* y) {
+  getnowpos(*x, *y);
+  return 0;
+}

components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp

@@ -90,6 +90,8 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule, public ZIXYMotor, public Z
   virtual int32_t xymotor_move_by(int32_t dx, int32_t dy, int32_t motor_velocity);
   virtual int32_t xymotor_move_to(int32_t x, int32_t y, int32_t motor_velocity);
   virtual int32_t xymotor_move_to_zero();
+  virtual int32_t xymotor_move_to_zero_and_calculated_shift() { return err::koperation_not_support; }
+  virtual int32_t xymotor_read_pos(int32_t* x, int32_t* y) { return err::koperation_not_support; }
 
  private:
   virtual int32_t _module_set_or_get_param(bool set, int32_t param_id, int32_t& param_value);