update

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);
 }

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, int speed, 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;