From bf1c9dcf65962a32a6254e8e9f5517fa08844be4 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 15 Oct 2023 22:11:50 +0800
Subject: [PATCH] fix some bug

---
 components/step_motor_45/step_motor_45.cpp | 79 +++++++++++++-----------------
 1 file changed, 35 insertions(+), 44 deletions(-)

diff --git a/components/step_motor_45/step_motor_45.cpp b/components/step_motor_45/step_motor_45.cpp
index b14b0ab..a4a8481 100644
--- a/components/step_motor_45/step_motor_45.cpp
+++ b/components/step_motor_45/step_motor_45.cpp
@@ -83,14 +83,14 @@ int32_t StepMotor45::stop() {
 }
 int32_t StepMotor45::zero_calibration() {
   CriticalContext cc;
-  ZLOGI(TAG, "zero_calibration1 %d", getzeropinstate());
+  // ZLOGI(TAG, "zero_calibration1 %d", getzeropinstate());
   if (getzeropinstate()) {
     ZLOGI(TAG, "zero_calibration2");
     m_calibration = true;
     m_pos         = 0;
     return (int32_t)0;
   }
-  ZLOGI(TAG, "zero_calibration");
+  // ZLOGI(TAG, "zero_calibration");
   m_exec_zero_calibration_task = true;
   m_state                      = krollback;
   return (int32_t)0;
@@ -130,57 +130,48 @@ void StepMotor45::schedule() {
     m_lastzeropinstate = iostate;
   }
 
-  if ((detect_rising_edge && m_state == krollback) || (detect_falling_edge && m_state == kforward_rotation)) {
-    /**
-     * @brief 触发零点
-     */
-    m_pos         = 0;
-    m_calibration = true;
-
-    if (m_exec_zero_calibration_task) {
+  if (m_exec_zero_calibration_task) {
+    if ((detect_rising_edge && m_state == krollback) || (detect_falling_edge && m_state == kforward_rotation)) {
+      m_pos                        = 0;
+      m_calibration                = true;
       m_exec_zero_calibration_task = 0;
       stop_motor();
       return;
     }
-  }
-
-  /**
-   * @brief 零点限位触发，电机停止运行
-   */
-  if (m_cfg.enable_zero_limit && m_state == krollback) {
-    if (iostate) {
-      stop_motor();
-      return;
+  } else {
+    // 触发零点
+    if ((detect_rising_edge && m_state == krollback) || (detect_falling_edge && m_state == kforward_rotation)) {
+      m_pos         = 0;
+      m_calibration = true;
     }
-  }
 
-  /**
-   * @brief 触发最大位置限位，电机停止运行
-   */
-  if (m_cfg.enable_max_pos_limit && m_state == kforward_rotation) {
-    if (m_pos >= m_cfg.max_pos) {
-      stop_motor();
-      return;
+    // 零点限位触发，电机停止运行
+    if (m_cfg.enable_zero_limit && m_state == krollback) {
+      if (iostate) {
+        stop_motor();
+        return;
+      }
     }
-  }
-
-  /**
-   * @brief 如果使能了最大位置限位，且电机没有校准过，则电机不允许正转
-   */
-  if (m_cfg.enable_max_pos_limit && !m_calibration) {
-    if (m_state == kforward_rotation) {
-      return;
+    // 触发最大位置限位，电机停止运行
+    if (m_cfg.enable_max_pos_limit && m_state == kforward_rotation) {
+      if (m_pos >= m_cfg.max_pos) {
+        stop_motor();
+        return;
+      }
     }
-  }
-
-  /**
-   * @brief 如果运行到目标位置则停止
-   */
 
-  if (posmode) {
-    if (m_pos == m_targetPos) {
-      stop_motor();
-      return;
+    // 如果使能了最大位置限位，且电机没有校准过，则电机不允许正转
+    if (m_cfg.enable_max_pos_limit && !m_calibration) {
+      if (m_state == kforward_rotation) {
+        return;
+      }
+    }
+    // 如果运行到目标位置则停止
+    if (posmode) {
+      if (m_pos == m_targetPos) {
+        stop_motor();
+        return;
+      }
     }
   }