diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
index cb1ba01..d03fccb 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -394,7 +394,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
     _motor_move_by(m_basecfg.look_zero_edge_max_d, 0, m_basecfg.look_zero_edge_speed, m_basecfg.acc, m_basecfg.look_zero_edge_dec);
     bool xleave_zero = false;
     while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
-      if (m_Xgpio->getState()) {
+      if (!m_Xgpio->getState()) {
         xleave_zero = true;
         _motor_stop(-1);
         break;
@@ -444,7 +444,7 @@ int32_t XYRobotCtrlModule::exec_move_to_zero_task() {
     _motor_move_by(0, m_basecfg.look_zero_edge_max_d, m_basecfg.look_zero_edge_speed, m_basecfg.acc, m_basecfg.look_zero_edge_dec);
     bool yleave_zero = false;
     while (!m_thread.getExitFlag() && !_motor_is_reach_target()) {
-      if (m_Ygpio->getState()) {
+      if (!m_Ygpio->getState()) {
         yleave_zero = true;
         _motor_stop(-1);
         break;