From a2c45792303627e55ee39039a587750f77354056 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 10 Oct 2023 17:18:36 +0800
Subject: [PATCH] change some api

---
 components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp | 10 +++++-----
 components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp |  7 +++----
 2 files changed, 8 insertions(+), 9 deletions(-)

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 4bf2b36..63bd95b 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp
@@ -9,8 +9,7 @@ using namespace std;
 void XYRobotCtrlModule::initialize(IStepperMotor* stepM1,  //
                                    IStepperMotor* stepM2,  //
                                    ZGPIO*         Xgpio,   //
-                                   ZGPIO*         Ygpio,   //
-                                   float          scale) {
+                                   ZGPIO*         Ygpio) {
   m_stepM1 = stepM1;
   m_stepM2 = stepM2;
   m_Xgpio  = Xgpio;
@@ -19,9 +18,10 @@ void XYRobotCtrlModule::initialize(IStepperMotor* stepM1,  //
   ZASSERT(m_stepM2);
   ZASSERT(m_Xgpio);
   ZASSERT(m_Ygpio);
-  m_stepM1->setScale(scale);
-  m_stepM2->setScale(scale);
+
   m_lock.init();
+  create_default_cfg(m_cfg);
+  set_base_param(m_cfg);
   // m_statu_lock.init();
   m_thread.init("XYRobotCtrlModule", 1024, osPriorityNormal);
 }
@@ -29,7 +29,7 @@ void XYRobotCtrlModule::initialize(IStepperMotor* stepM1,  //
 int32_t XYRobotCtrlModule::move_to(int32_t x, int32_t y, action_cb_status_t status_cb) {
   zlock_guard lock(m_lock);
   ZLOGI(TAG, "move_to x:%d y:%d", x, y);
-  //int32_t m1pos, m2pos;
+  // int32_t m1pos, m2pos;
   m_thread.stop();
   /**
    * @TODO:Ìí¼ÓÏÞλ¼ì²é
diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
index 09fdb54..e6328e1 100644
--- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
+++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp
@@ -32,10 +32,9 @@ class XYRobotCtrlModule : public I_XYRobotCtrlModule {
 
  public:
   void initialize(IStepperMotor* stepM1,  //
-                  IStepperMotor* stepM2,  //
-                  ZGPIO*         Xgpio,   //
-                  ZGPIO*         Ygpio,   //
-                  float          scale);
+                                   IStepperMotor* stepM2,  //
+                                   ZGPIO*         Xgpio,   //
+                                   ZGPIO*         Ygpio);
 
   virtual int32_t move_to(int32_t x, int32_t y, action_cb_status_t status_cb) override;
   virtual int32_t move_by(int32_t dx, int32_t dy, action_cb_status_t status_cb) override;