From a42585f09499d07acfe6c7681d3e1f93f5b46f6f Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 6 Sep 2023 03:36:15 +0800
Subject: [PATCH] update

---
 components/iflytop_can_slave_module_master_end/stepmotor.cpp | 5 +++--
 components/iflytop_can_slave_module_master_end/stepmotor.hpp | 2 +-
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/components/iflytop_can_slave_module_master_end/stepmotor.cpp b/components/iflytop_can_slave_module_master_end/stepmotor.cpp
index 2832fa7..abc8a30 100644
--- a/components/iflytop_can_slave_module_master_end/stepmotor.cpp
+++ b/components/iflytop_can_slave_module_master_end/stepmotor.cpp
@@ -79,12 +79,13 @@ bool StepMotor::moveBy(int32_t pos) {  //
   }
   return m_canMaster->writeReg(m_id, m_baseCtrlPoint + SAMC_REG_ACT_MOVE_BY, pos, 20);
 }
-bool StepMotor::rotate(int32_t velocity) {  //
+bool StepMotor::rotate(int32_t direction) {  //
   if (m_fakeMotorl) {
     ZLOGE(TAG, "call stepmotor fail,motor is null");
     return false;
   }
-  return m_canMaster->writeReg(m_id, m_baseCtrlPoint + SAMC_REG_ACT_ROTATE, velocity, 20);
+  ZLOGI(TAG, "rotate %d", direction);
+  return m_canMaster->writeReg(m_id, m_baseCtrlPoint + SAMC_REG_ACT_ROTATE, direction, 20);
 }
 int32_t StepMotor::getPos() {
   if (m_fakeMotorl) {
diff --git a/components/iflytop_can_slave_module_master_end/stepmotor.hpp b/components/iflytop_can_slave_module_master_end/stepmotor.hpp
index b1a6adc..0bff3d5 100644
--- a/components/iflytop_can_slave_module_master_end/stepmotor.hpp
+++ b/components/iflytop_can_slave_module_master_end/stepmotor.hpp
@@ -32,7 +32,7 @@ class StepMotor {
   bool setDec(int32_t dec);
   bool moveTo(int32_t pos);
   bool moveBy(int32_t pos);
-  bool rotate(int32_t velocity);
+  bool rotate(int32_t direction);
 
   void clearException();