diff --git a/components/cmdscheduler/cmd_scheduler.cpp b/components/cmdscheduler/cmd_scheduler.cpp
deleted file mode 100644
index 2d5e3ca..0000000
--- a/components/cmdscheduler/cmd_scheduler.cpp
+++ /dev/null
@@ -1,166 +0,0 @@
-
-#include "cmd_scheduler.hpp"
-
-#include <stdlib.h>
-#include <string.h>
-
-#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
-using namespace iflytop;
-
-#define TAG "CMD"
-
-void CmdScheduler::registerCmd(std::string cmd, const char* helpinfo, int npara, call_cmd_t call_cmd) {
-  CMD cmdinfo;
-  cmdinfo.call_cmd  = call_cmd;
-  cmdinfo.help_info = helpinfo;
-  cmdinfo.npara     = npara;
-  m_cmdMap[cmd]     = cmdinfo;
-}
-
-void CmdScheduler::regbasiccmd() {
-  this->registerCmd("help", "", 0, [this](Context* context) {
-    ZLOGI(TAG, "cmdlist:");
-    for (auto it = m_cmdMap.begin(); it != m_cmdMap.end(); it++) {
-      ZLOGI(TAG, "  %s %s", it->first.c_str(), it->second.help_info.c_str());
-    }
-    return (int32_t)0;
-  });
-  this->registerCmd("sleep_ms", "(ms)", 1, [this](Context* context) {
-    int ms = atoi(context->argv[1]);
-    osDelay(ms);
-    return 0;
-  });
-}
-
-void CmdScheduler::initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize) {
-  m_rxbufsize = rxbufsize;
-
-  m_uart = new ZUART();
-  ZASSERT(m_uart != NULL);
-
-  ZUART::cfg_t cfg;
-  cfg.huart         = huart;
-  cfg.rxbuffersize  = rxbufsize;
-  cfg.rxovertime_ms = 3;
-  cfg.name          = "CmdSchedulerUart";
-
-  rxbuf = new char[rxbufsize + 1];
-  ZASSERT(rxbuf != NULL);
-
-  m_uart->initialize(&cfg);
-  ZASSERT(m_uart->startRxIt());
-  m_uart->setrxcb([this](uint8_t* data, size_t len) {
-    if (m_dataisready) {
-      return;
-    }
-    memcpy(rxbuf, data, len);
-    rxbuf[len]    = '\0';
-    m_rxsize      = len;
-    m_dataisready = true;
-    // on data ,in irq context
-  });
-  regbasiccmd();
-}
-
-void CmdScheduler::schedule() {
-  if (!m_dataisready) {
-    return;
-  }
-  for (int i = 0; i < m_rxsize; i++) {
-    if (rxbuf[i] == '\r' || rxbuf[i] == '\n') {
-      rxbuf[i] = '\0';
-    }
-  }
-  for (int i = 0; i < m_rxsize; i++) {
-    if (rxbuf[i] != '\0') {
-      ZLOGI(TAG, "docmd: %s", &rxbuf[i]);
-      int     inext = strlen(&rxbuf[i]) + i;
-      int32_t ecode = callcmd(&rxbuf[i]);
-      i             = inext;
-
-      if (ecode == 0) {
-        ZLOGI(TAG, "\tsuccess");
-      } else {
-        ZLOGE(TAG, "\tfailed:%s(%d)", err::error2str(ecode), ecode);
-      }
-      ZLOGI(TAG, "\r\n");
-      if (ecode != 0) {
-        break;
-      }
-    }
-  }
-  // if (m_rxsize != 1) {
-  //   ZLOGI(TAG, "doscript:end");
-  // }
-  m_dataisready = false;
-}
-
-void    CmdScheduler::tx(const char* data, int len) { m_uart->tx((uint8_t*)data, len); }
-int32_t CmdScheduler::callcmd(const char* cmd) {
-  int   argc     = 0;
-  char* argv[10] = {0};
-  memset(cmdcache, 0, sizeof(cmdcache));
-  argc = 0;
-  memset(argv, 0, sizeof(argv));
-  strcpy(cmdcache, cmd);
-  remove_note(cmdcache, strlen(cmdcache));
-  prase_cmd(cmdcache, strlen(cmdcache), argc, argv);
-  if (argc == 0) {
-    return (int32_t)0;
-  }
-
-  // printf("argc:%d\n", argc);
-  // for (size_t i = 0; i < argc; i++) {
-  //   printf("argv[%d]:%s\n", i, argv[i]);
-  // }
-  /**
-   * @brief 在这里处理指令
-   */
-  auto cmder = m_cmdMap.find(string(argv[0]));
-  if (cmder != m_cmdMap.end()) {
-    Context context;
-    context.argc = argc;
-    context.argv = argv;
-    // ZLOGI(TAG, "callcmd:argc %d %d", argc, cmder->second.npara);
-    if (cmder->second.npara != context.argc - 1) return err::kcmd_param_num_error;
-    int32_t ret = cmder->second.call_cmd(&context);
-    return ret;
-
-  } else {
-    return err::kcmd_not_found;
-  }
-}
-
-void CmdScheduler::remove_note(char* input, int inputlen) {
-  bool detect_note = false;
-  for (int i = 0; i < inputlen; i++) {
-    if (!detect_note && input[i] == '#') {
-      detect_note = true;
-    }
-    if (detect_note) {
-      input[i] = 0;
-    }
-  }
-}
-
-void CmdScheduler::prase_cmd(char* input, int inputlen, int& argc, char* argv[]) {
-  for (int i = 0; input[i] == 0 || i < inputlen; i++) {
-    if (input[i] == ' ' || input[i] == '\r' || input[i] == '\n') {
-      input[i] = 0;
-    }
-  }
-
-  int j = 0;
-  for (int i = 0; input[i] == 0 || i < inputlen; i++) {
-    if (input[i] != 0 && j == 0) {
-      argv[argc++] = &input[i];
-      j            = 1;
-      continue;
-    }
-
-    if (input[i] == 0 && j == 1) {
-      j = 0;
-      continue;
-    }
-  }
-}
diff --git a/components/cmdscheduler/cmd_scheduler.hpp b/components/cmdscheduler/cmd_scheduler.hpp
deleted file mode 100644
index 4d467c5..0000000
--- a/components/cmdscheduler/cmd_scheduler.hpp
+++ /dev/null
@@ -1,112 +0,0 @@
-#pragma once
-#include <map>
-#include <string>
-
-#include "sdk/os/zos.hpp"
-#include "sdk\components\zprotocols\errorcode\errorcode.hpp"
-#include "sdk\components\zprotocols\zcancmder_v2\api\api.hpp"
-
-namespace iflytop {
-using namespace std;
-
-class CmdScheduler {
- public:
-  class Context {
-   public:
-    int    argc;
-    char** argv;
-
-    int getInt(int index, int defaultvalue = 0) {
-      if (index >= argc) {
-        return defaultvalue;
-      }
-      return atoi(argv[index]);
-    }
-
-    bool getBool(int index, bool defaultvalue = false) {
-      if (index >= argc) {
-        return defaultvalue;
-      }
-      return atoi(argv[index]) != 0;
-    }
-
-    float getFloat(int index, float defaultvalue = 0) {
-      if (index >= argc) {
-        return defaultvalue;
-      }
-      return atof(argv[index]);
-    }
-    const char* getString(int index, const char* defaultvalue = "") {
-      if (index >= argc) {
-        return defaultvalue;
-      }
-      return argv[index];
-    }
-  };
-
-  typedef function<int32_t(Context* context)> call_cmd_t;
-
-  class CMD {
-   public:
-    call_cmd_t call_cmd;
-    string     help_info;
-    int        npara;
-  };
-
- private:
-  map<string, CMD> m_cmdMap;
-
-  ZUART*  m_uart;
-  char*   rxbuf;
-  int32_t m_rxsize = 0;
-
-  uint32_t m_rxbufsize;
-
-  bool m_dataisready = false;
-
-  char cmdcache[1024] = {0};
-
- public:
-  void initialize(UART_HandleTypeDef* huart, uint32_t rxbufsize);
-  void registerCmd(std::string cmd, const char* helpinfo, int npara, call_cmd_t call_cmd);
-  void tx(const char* data, int len);
-
-  void schedule();
-
- private:
-  void    regbasiccmd();
-  int32_t callcmd(const char* cmd);
-  void    prase_cmd(char* input, int inputlen, int& argc, char* argv[]);
-  void    remove_note(char* input, int inputlen);
-};
-
-#define DO_CMD(cond)    \
-  {                     \
-    int32_t ret = cond; \
-    if (ret != 0) {     \
-      return ret;       \
-    }                   \
-  }
-#define IMPL_CMD(cmd, ...)                     \
-  DO_CMD(findmodule(con->getInt(1), &module)); \
-  DO_CMD(module->cmd(__VA_ARGS__));            \
-  return (int32_t)0;
-
-#define IMPL_READ_STATE(cmd, ...)              \
-  DO_CMD(findmodule(con->getInt(1), &module)); \
-  DO_CMD(module->cmd(__VA_ARGS__));            \
-  cmd_dump_ack(ack);                           \
-  return (int32_t)0;
-
-#define REG_CMD___NO_ACK(prefix, cmd, para, npara, ...)                                                                           /**/ \
-  m_cmdScheduler->registerCmd(prefix #cmd, para, npara, [this](CmdScheduler::Context* con) {                             /**/ \
-                                                                                             IMPL_CMD(cmd, __VA_ARGS__); /**/ \
-  });
-
-#define REG_CMD_WITH_ACK(prefix, cmd, para, npara, acktype, ...)                                                                /**/ \
-  m_cmdScheduler->registerCmd(prefix #cmd, para, npara, [this](CmdScheduler::Context* con) {                                    /**/ \
-                                                                                             acktype ack;                       /**/ \
-                                                                                             IMPL_READ_STATE(cmd, __VA_ARGS__); /**/ \
-  });
-
-}  // namespace iflytop
\ No newline at end of file
diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
index b2b3534..a083744 100644
--- a/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
+++ b/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp
@@ -255,11 +255,11 @@ int32_t StepMotorCtrlModule::rotate(int32_t speed, int32_t lastforms, action_cb_
     _rotate(speed, m_param.acc, m_param.dec);
 
     int32_t startticket = zos_get_tick();
-    bool    reachtime   = false;
+    //bool    reachtime   = false;
 
     while (!m_thread.getExitFlag()) {
       if ((int32_t)zos_haspassedms(startticket) > lastforms && lastforms != 0) {
-        reachtime = true;
+        //reachtime = true;
         m_stepM1->stop();
         break;
       }
@@ -278,7 +278,7 @@ int32_t StepMotorCtrlModule::read_status(status_t& status) {
   zlock_guard l(m_statu_lock);
   status.status = m_thread.isworking() ? 1 : 0;
 
-  for (size_t i = 0; i < m_nio; i++) {
+  for (int32_t i = 0; i < m_nio; i++) {
     if (m_iotable[i].getState()) {
       status.io_state |= (0x01 << i);
     }
@@ -289,7 +289,7 @@ int32_t StepMotorCtrlModule::read_status(status_t& status) {
 }
 int32_t StepMotorCtrlModule::read_detailed_status(detailed_status_t& debug_info) {
   debug_info.status = m_thread.isworking() ? 1 : 0;
-  for (size_t i = 0; i < m_nio; i++) {
+  for (int32_t i = 0; i < m_nio; i++) {
     if (m_iotable[i].getState()) {
       debug_info.io_state |= (0x01 << i);
     }
@@ -694,7 +694,7 @@ int32_t StepMotorCtrlModule::module_clear_error() { return 0; }
 
 int32_t StepMotorCtrlModule::module_readio(int32_t* io) {
   *io = 0;
-  for (size_t i = 0; i < m_nio; i++) {
+  for (int32_t i = 0; i < m_nio; i++) {
     if (m_iotable[i].getState()) {
       *io |= (0x01 << i);
     }
@@ -804,4 +804,4 @@ int32_t StepMotorCtrlModule::motor_read_pos(int32_t* pos) {
   getnowpos(xnow);
   *pos = xnow;
   return 0;
-}
\ No newline at end of file
+}
diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp b/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp
deleted file mode 100644
index d105818..0000000
--- a/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.cpp
+++ /dev/null
@@ -1,273 +0,0 @@
-#include "step_motor_ctrl_script_cmder_module.hpp"
-
-#include <string.h>
-
-// #include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
-using namespace iflytop;
-#define TAG "CMD"
-
-#define CHECK_ARGC(n)            \
-  if (argc != (n + 1)) {         \
-    ZLOGE(TAG, "argc != %d", n); \
-    context->breakflag = true;   \
-    return;                      \
-  }
-#define CHECK_MIN_ARGC(n)            \
-  if (argc < (n + 1)) {              \
-    ZLOGE(TAG, "argc <= %d", n + 1); \
-    context->breakflag = true;       \
-    return;                          \
-  }
-
-#define SCRIPT_CMDER_CHECK(exptr)          \
-  if (!(exptr)) {                          \
-    ZLOGE(TAG, "check %s failed", #exptr); \
-    context->breakflag = true;             \
-    return;                                \
-  }
-
-void StepMotorCtrlScriptCmderModule::initialize(CmdScheduler* cmdScheduler) {
-  m_cmdScheduler = cmdScheduler;
-  ZASSERT(m_cmdScheduler != nullptr);
-  regcmd();
-}
-int32_t StepMotorCtrlScriptCmderModule::findmodule(int id, I_StepMotorCtrlModule** module) {
-  auto it = moduler.find(id);
-  if (it == moduler.end()) {
-    return err::kmodule_not_found;
-  }
-  *module = it->second;
-
-  return 0;
-}
-#define GET_BIT(x, n) ((x >> n) & 0x01)
-
-static void cmd_dump_ack(I_StepMotorCtrlModule::base_param_t& ack) {
-  ZLOGI(TAG, "base_param:");
-  ZLOGI(TAG, "  x_shaft:                           %d", ack.x_shaft);
-  ZLOGI(TAG, "  distance_scale:                    %d", ack.distance_scale);
-  ZLOGI(TAG, "  ihold:                             %d", ack.ihold);
-  ZLOGI(TAG, "  irun:                              %d", ack.irun);
-  ZLOGI(TAG, "  iholddelay:                        %d", ack.iholddelay);
-  ZLOGI(TAG, "  acc:                               %d", ack.acc);
-  ZLOGI(TAG, "  dec:                               %d", ack.dec);
-  ZLOGI(TAG, "  maxspeed:                          %d", ack.maxspeed);
-  ZLOGI(TAG, "  min_x:                             %d", ack.min_x);
-  ZLOGI(TAG, "  max_x:                             %d", ack.max_x);
-  ZLOGI(TAG, "  shift_x:                           %d", ack.shift_x);
-  ZLOGI(TAG, "= run_to_zero_max_d                 :%d", ack.run_to_zero_max_d);
-  ZLOGI(TAG, "= run_to_zero_speed                 :%d", ack.run_to_zero_speed);
-  ZLOGI(TAG, "= run_to_zero_dec                   :%d", ack.run_to_zero_dec);
-  ZLOGI(TAG, "= look_zero_edge_max_d              :%d", ack.look_zero_edge_max_d);
-  ZLOGI(TAG, "= look_zero_edge_speed              :%d", ack.look_zero_edge_speed);
-  ZLOGI(TAG, "= look_zero_edge_dec                :%d", ack.look_zero_edge_dec);
-
-  // ZLOGI(TAG, "  run_to_zero_move_to_zero_max_d:    %d", ack.run_to_zero_move_to_zero_max_d);
-  // ZLOGI(TAG, "  run_to_zero_leave_from_zero_max_d: %d", ack.run_to_zero_leave_from_zero_max_d);
-  // ZLOGI(TAG, "  run_to_zero_speed:                 %d", ack.run_to_zero_speed);
-  // ZLOGI(TAG, "  run_to_zero_dec:                   %d", ack.run_to_zero_dec);
-}
-
-static void cmd_dump_ack(I_StepMotorCtrlModule::logic_point_t& ack) {
-  ZLOGI(TAG, "logic_point:");
-  ZLOGI(TAG, "  index:    %d", ack.index);
-  ZLOGI(TAG, "  acc:      %d", ack.acc);
-  ZLOGI(TAG, "  dec:      %d", ack.dec);
-  ZLOGI(TAG, "  velocity: %d", ack.velocity);
-  ZLOGI(TAG, "  x:        %d", ack.x);
-}
-
-static void cmd_dump_ack(I_StepMotorCtrlModule::status_t& ack) {
-  ZLOGI(TAG, "status:");
-  ZLOGI(TAG, "  status:   :%d", ack.status);
-  ZLOGI(TAG, "  io_state  :%d,%d,%d,%d,%d,%d,%d,%d", GET_BIT(ack.io_state, 0), GET_BIT(ack.io_state, 1), GET_BIT(ack.io_state, 2), GET_BIT(ack.io_state, 3), GET_BIT(ack.io_state, 4), GET_BIT(ack.io_state, 5), GET_BIT(ack.io_state, 6), GET_BIT(ack.io_state, 7));
-  ZLOGI(TAG, "  x:        :%d", ack.x);
-}
-
-static void cmd_dump_ack(I_StepMotorCtrlModule::detailed_status_t& ack) {
-  ZLOGI(TAG, "detailed_status:");
-  ZLOGI(TAG, "  status:           %d", ack.status);
-  ZLOGI(TAG, "  io_state         :%d,%d,%d,%d,%d,%d,%d,%d", GET_BIT(ack.io_state, 0), GET_BIT(ack.io_state, 1), GET_BIT(ack.io_state, 2), GET_BIT(ack.io_state, 3), GET_BIT(ack.io_state, 4), GET_BIT(ack.io_state, 5), GET_BIT(ack.io_state, 6), GET_BIT(ack.io_state, 7));
-  ZLOGI(TAG, "  x:                %d", ack.x);
-  ZLOGI(TAG, "  last_exec_status: %d", ack.last_exec_status);
-}
-
-static void cmd_dump_ack(I_StepMotorCtrlModule::version_t& ack) {
-  ZLOGI(TAG, "version:");
-  ZLOGI(TAG, "  version: %d", ack.version);
-}
-
-static bool streq(const char* a, const char* b) { return strcmp(a, b) == 0; }
-
-void StepMotorCtrlScriptCmderModule::regmodule(int id, I_StepMotorCtrlModule* robot) {
-  ZASSERT(moduler.find(id) == moduler.end());
-  ZASSERT(robot != nullptr);
-  moduler[id] = robot;
-}
-void StepMotorCtrlScriptCmderModule::regcmd() {  //
-  ZASSERT(m_cmdScheduler != nullptr);
-#if 1
-  m_cmdScheduler->registerCmd("step_motor_ctrl_is_busy", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    ZLOGI(TAG, "is busy:%d", module->isbusy());
-    return (int32_t)0;
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_get_last_exec_status", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    ZLOGI(TAG, "last exec status:%s(%d)", err::error2str(module->get_last_exec_status()), module->get_last_exec_status());
-    return (int32_t)0;
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_move_to", "(id,x,speed)", 3, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(move_to, con->getInt(2), con->getInt(3),  //
-             [this](int32_t status) { ZLOGI(TAG, "move to exec end status:%s(%d)", err::error2str(status), status); });
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_move_by", "(id,dx,speed)", 3, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(move_by, con->getInt(2), con->getInt(3),  //
-             [this](int32_t status) { ZLOGI(TAG, "move by exec end status:%s(%d)", err::error2str(status), status); });
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_move_to_zero", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(move_to_zero, [this](int32_t status) { ZLOGI(TAG, "move to zero exec end status:%s(%d)", err::error2str(status), status); });
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_move_to_zero_with_calibrate", "(id,x)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(move_to_zero_with_calibrate, con->getInt(2),  //
-             [this](int32_t status) { ZLOGI(TAG, "move to zero with calibrate exec end status:%s(%d)", err::error2str(status), status); });
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_rotate", "(id,speed,lastforms)", 3, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(rotate, con->getInt(2), con->getInt(3),  //
-             [this](int32_t status) { ZLOGI(TAG, "rotate exec end status:%s(%d)", err::error2str(status), status); });
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_stop", "(id,stop_type)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(stop, con->getInt(2));
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_force_change_current_pos", "(id,x)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(force_change_current_pos, con->getInt(2));
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_move_to_logic_point", "(id,logic_point_id)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(move_to_logic_point, con->getInt(2),  //
-             [this](int32_t status) { ZLOGI(TAG, "move to logic point exec end status:%s(%d)", err::error2str(status), status); });
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_set_logic_point", "(id,logic_point_id,x,vel,acc,dec)", 6, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(set_logic_point, con->getInt(2), con->getInt(3), con->getInt(4), con->getInt(5), con->getInt(6));
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_set_logic_point_simplify", "(id,logic_point_id)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(set_logic_point, con->getInt(2), module->read_pos(), 0, 0, 0);
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_get_logic_point", "(id,logic_point_id)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    I_StepMotorCtrlModule::logic_point_t ack;
-    IMPL_READ_STATE(get_logic_point, con->getInt(2), ack);
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_get_base_param", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    I_StepMotorCtrlModule::base_param_t ack;
-    IMPL_READ_STATE(get_base_param, ack);
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_flush", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(flush);
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_enable", "(id,en)", 2, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(enable, con->getBool(2));
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_factory_reset", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    IMPL_CMD(factory_reset);
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_read_version", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    I_StepMotorCtrlModule::version_t ack;
-    IMPL_READ_STATE(read_version, ack);
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_read_status", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    I_StepMotorCtrlModule::status_t ack;
-    IMPL_READ_STATE(read_status, ack);
-  });
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_read_detailed_status", "(id)", 1, [this](CmdScheduler::Context* con) {
-    DO_CMD(findmodule(con->getInt(1), &module));
-    I_StepMotorCtrlModule::detailed_status_t ack;
-    IMPL_READ_STATE(read_detailed_status, ack);
-  });
-#endif
-
-  m_cmdScheduler->registerCmd("step_motor_ctrl_set_base_param", "(id,paramName,val)", 3, [this](CmdScheduler::Context* con) {
-    const char* paramName = con->getString(2);
-    int32_t     value     = con->getInt(3);
-
-    DO_CMD(findmodule(con->getInt(1), &module));
-
-    I_StepMotorCtrlModule::base_param_t param;
-    DO_CMD(module->get_base_param(param));
-
-    if (streq(paramName, "x_shaft")) {
-      param.x_shaft = value;
-    } else if (streq(paramName, "distance_scale")) {
-      param.distance_scale = value;
-    } else if (streq(paramName, "ihold")) {
-      param.ihold = value;
-    } else if (streq(paramName, "irun")) {
-      param.irun = value;
-    } else if (streq(paramName, "iholddelay")) {
-      param.iholddelay = value;
-    } else if (streq(paramName, "acc")) {
-      param.acc = value;
-    } else if (streq(paramName, "dec")) {
-      param.dec = value;
-    } else if (streq(paramName, "maxspeed")) {
-      param.maxspeed = value;
-    } else if (streq(paramName, "min_x")) {
-      param.min_x = value;
-    } else if (streq(paramName, "max_x")) {
-      param.max_x = value;
-    } else if (streq(paramName, "shift_x")) {
-      param.shift_x = value;
-    } else if (streq(paramName, "run_to_zero_max_d")) {
-      param.run_to_zero_max_d = value;
-    } else if (streq(paramName, "run_to_zero_speed")) {
-      param.run_to_zero_speed = value;
-    } else if (streq(paramName, "run_to_zero_dec")) {
-      param.run_to_zero_dec = value;
-    } else if (streq(paramName, "look_zero_edge_max_d")) {
-      param.look_zero_edge_max_d = value;
-    } else if (streq(paramName, "look_zero_edge_speed")) {
-      param.look_zero_edge_speed = value;
-    } else if (streq(paramName, "look_zero_edge_dec")) {
-      param.look_zero_edge_dec = value;
-    } else {
-      ZLOGE(TAG, "invalid param name:%s", paramName);
-      return (int32_t)err::kparam_out_of_range;
-    }
-    DO_CMD(module->set_base_param(param));
-    return (int32_t)0;
-  });
-}
\ No newline at end of file
diff --git a/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp b/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp
deleted file mode 100644
index 94db864..0000000
--- a/components/step_motor_ctrl_module/step_motor_ctrl_script_cmder_module.hpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-#include <map>
-
-#include "sdk/os/zos.hpp"
-#include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
-#include "sdk\components\zprotocols\zcancmder\api\i_step_motor_ctrl_module.hpp"
-namespace iflytop {
-
-class StepMotorCtrlScriptCmderModule {
-  CmdScheduler*                        m_cmdScheduler;
-  map<uint8_t, I_StepMotorCtrlModule*> moduler;
-  I_StepMotorCtrlModule*               module;
-
- public:
-  void initialize(CmdScheduler* cmdScheduler);
-  void regmodule(int id, I_StepMotorCtrlModule* robot);
-  void regcmd();
-
- private:
-  int32_t findmodule(int id, I_StepMotorCtrlModule** module);
-};
-
-}  // namespace iflytop
\ No newline at end of file
diff --git a/components/xy_robot_ctrl_module/xy_robot_script_cmder_module.cpp b/components/xy_robot_ctrl_module/xy_robot_script_cmder_module.cpp
deleted file mode 100644
index f74835d..0000000
--- a/components/xy_robot_ctrl_module/xy_robot_script_cmder_module.cpp
+++ /dev/null
@@ -1,161 +0,0 @@
-#include "xy_robot_script_cmder_module.hpp"
-
-#include <string.h>
-
-#include "sdk\components\zprotocols\zcancmder\zcancmder_protocol.hpp"
-using namespace iflytop;
-#define TAG "XYRobotScriptCmderModule"
-
-void XYRobotScriptCmderModule::initialize(CmdScheduler* cmdScheduler) {
-  m_cmdScheduler = cmdScheduler;
-  ZASSERT(m_cmdScheduler != nullptr);
-  regcmd();
-}
-int32_t XYRobotScriptCmderModule::findmodule(int id, I_XYRobotCtrlModule** module) {
-  auto it = moduler.find(id);
-  if (it == moduler.end()) {
-    return err::kmodule_not_found;
-  }
-  *module = it->second;
-  return 0;
-}
-static bool streq(const char* a, const char* b) { return strcmp(a, b) == 0; }
-
-static void cmd_dump_ack(I_XYRobotCtrlModule::version_t& ack) {  //
-  ZLOGI(TAG, "version:%d", ack.version);
-}
-
-#define BIT(x, n) (((x) >> (n)) & 1)
-
-static void cmd_dump_ack(I_XYRobotCtrlModule::status_t& ack) {  //
-  ZLOGI(TAG, "status    :%d", ack.status);
-  ZLOGI(TAG, "x         :%d", ack.x);
-  ZLOGI(TAG, "y         :%d", ack.y);
-  ZLOGI(TAG, "iostate   :%d %d %d %d  %d %d %d %d", BIT(ack.iostate, 0), BIT(ack.iostate, 1), BIT(ack.iostate, 2), BIT(ack.iostate, 3), BIT(ack.iostate, 4), BIT(ack.iostate, 5), BIT(ack.iostate, 6), BIT(ack.iostate, 7));
-}
-
-static void cmd_dump_ack(I_XYRobotCtrlModule::detailed_status_t& ack) {  //
-  ZLOGI(TAG, "status    :%d", ack.status);
-  ZLOGI(TAG, "x         :%d", ack.x);
-  ZLOGI(TAG, "y         :%d", ack.y);
-  ZLOGI(TAG, "iostate   :%d %d %d %d  %d %d %d %d", BIT(ack.iostate, 0), BIT(ack.iostate, 1), BIT(ack.iostate, 2), BIT(ack.iostate, 3), BIT(ack.iostate, 4), BIT(ack.iostate, 5), BIT(ack.iostate, 6), BIT(ack.iostate, 7));
-}
-
-static void cmd_dump_ack(I_XYRobotCtrlModule::base_param_t& ack) {
-  ZLOGI(TAG, "  robot_type            :%d", ack.robot_type);
-  ZLOGI(TAG, "  x_shaft               :%d", ack.x_shaft);
-  ZLOGI(TAG, "  y_shaft               :%d", ack.y_shaft);
-  ZLOGI(TAG, "  ihold                 :%d", ack.ihold);
-  ZLOGI(TAG, "  irun                  :%d", ack.irun);
-  ZLOGI(TAG, "  iholddelay            :%d", ack.iholddelay);
-  ZLOGI(TAG, "  distance_scale        :%d", ack.distance_scale);
-  ZLOGI(TAG, "  shift_x               :%d", ack.shift_x);
-  ZLOGI(TAG, "  shift_y               :%d", ack.shift_y);
-  ZLOGI(TAG, "  acc                   :%d", ack.acc);
-  ZLOGI(TAG, "  dec                   :%d", ack.dec);
-  ZLOGI(TAG, "  breakdec              :%d", ack.breakdec);
-  ZLOGI(TAG, "  maxspeed              :%d", ack.maxspeed);
-  ZLOGI(TAG, "  min_x                 :%d", ack.min_x);
-  ZLOGI(TAG, "  max_x                 :%d", ack.max_x);
-  ZLOGI(TAG, "  min_y                 :%d", ack.min_y);
-  ZLOGI(TAG, "  max_y                 :%d", ack.max_y);
-  ZLOGI(TAG, "  run_to_zero_max_d     :%d", ack.run_to_zero_max_d);
-  ZLOGI(TAG, "  run_to_zero_speed     :%d", ack.run_to_zero_speed);
-  ZLOGI(TAG, "  run_to_zero_dec       :%d", ack.run_to_zero_dec);
-  ZLOGI(TAG, "  look_zero_edge_max_d  :%d", ack.look_zero_edge_max_d);
-  ZLOGI(TAG, "  look_zero_edge_speed  :%d", ack.look_zero_edge_speed);
-  ZLOGI(TAG, "  look_zero_edge_dec    :%d", ack.look_zero_edge_dec);
-}
-
-void XYRobotScriptCmderModule::regmodule(int id, I_XYRobotCtrlModule* robot) {
-  ZASSERT(moduler.find(id) == moduler.end());
-  ZASSERT(robot != nullptr);
-  moduler[id] = robot;
-}
-void XYRobotScriptCmderModule::regcmd() {  //
-  ZASSERT(m_cmdScheduler != nullptr);
-
-#define PREIX "xy_robot_ctrl_"
-
-  REG_CMD___NO_ACK(PREIX, enable, "(id,en)", 2, con->getBool(2));
-  REG_CMD___NO_ACK(PREIX, stop, "(id,stop_type)", 2, con->getInt(2));
-  REG_CMD___NO_ACK(PREIX, move_to_zero, "(id)", 1, [this](int32_t status) { ZLOGI(TAG, "move_to_zero status:%d", status); });
-  REG_CMD___NO_ACK(PREIX, move_to_zero_with_calibrate, "(id,nowx,nowy)", 3, con->getInt(2), con->getInt(3), [this](int32_t status) { ZLOGI(TAG, "move_to_zero_with_calibrate status:%d", status); });
-  REG_CMD___NO_ACK(PREIX, move_to, "(id,x,y,speed)", 4, con->getInt(2), con->getInt(3), con->getInt(4), [this](int32_t status) { ZLOGI(TAG, "move_to status:%d", status); });
-  REG_CMD___NO_ACK(PREIX, move_by, "(id,dx,dy,v)", 4, con->getInt(2), con->getInt(3), con->getInt(4), [this](int32_t status) { ZLOGI(TAG, "move_by status:%d", status); });
-  REG_CMD___NO_ACK(PREIX, force_change_current_pos, "(id,x,y)", 3, con->getInt(2), con->getInt(3));
-  REG_CMD_WITH_ACK(PREIX, read_version, "(id)", 1, I_XYRobotCtrlModule::version_t, ack);
-  REG_CMD_WITH_ACK(PREIX, read_status, "(id)", 1, I_XYRobotCtrlModule::status_t, ack);
-  REG_CMD_WITH_ACK(PREIX, read_detailed_status, "(id)", 1, I_XYRobotCtrlModule::detailed_status_t, ack);
-  REG_CMD_WITH_ACK(PREIX, get_base_param, "(id)", 1, I_XYRobotCtrlModule::base_param_t, ack);
-  REG_CMD_WITH_ACK(PREIX, read_detailed_status, "(id)", 1, I_XYRobotCtrlModule::detailed_status_t, ack);
-  REG_CMD_WITH_ACK(PREIX, read_status, "(id)", 1, I_XYRobotCtrlModule::status_t, ack);
-  REG_CMD_WITH_ACK(PREIX, read_version, "(id)", 1, I_XYRobotCtrlModule::version_t, ack);
-  REG_CMD___NO_ACK(PREIX, flush, "(id)", 1);
-  REG_CMD___NO_ACK(PREIX, factory_reset, "(id)", 1);
-  REG_CMD___NO_ACK(PREIX, move_by_no_limit, "(id,dx,dy,v)", 4, con->getInt(2), con->getInt(3), con->getInt(4), [this](int32_t status) { ZLOGI(TAG, "move_by_no_limit status:%d", status); });
-
-  m_cmdScheduler->registerCmd("xy_robot_ctrl_set_base_param", "(id,paramName,val)", 3, [this](CmdScheduler::Context* con) {
-    const char* paramName = con->getString(2);
-    int32_t     paramVal  = con->getInt(3);
-
-    DO_CMD(findmodule(con->getInt(1), &module));
-
-    I_XYRobotCtrlModule::base_param_t status;
-    DO_CMD(module->get_base_param(status));
-
-    if (streq(paramName, "robot_type")) {
-      status.robot_type = paramVal;
-    } else if (streq(paramName, "x_shaft")) {
-      status.x_shaft = paramVal;
-    } else if (streq(paramName, "y_shaft")) {
-      status.y_shaft = paramVal;
-    } else if (streq(paramName, "ihold")) {
-      status.ihold = paramVal;
-    } else if (streq(paramName, "irun")) {
-      status.irun = paramVal;
-    } else if (streq(paramName, "iholddelay")) {
-      status.iholddelay = paramVal;
-    } else if (streq(paramName, "distance_scale")) {
-      status.distance_scale = paramVal;
-    } else if (streq(paramName, "shift_x")) {
-      status.shift_x = paramVal;
-    } else if (streq(paramName, "shift_y")) {
-      status.shift_y = paramVal;
-    } else if (streq(paramName, "acc")) {
-      status.acc = paramVal;
-    } else if (streq(paramName, "dec")) {
-      status.dec = paramVal;
-    } else if (streq(paramName, "breakdec")) {
-      status.breakdec = paramVal;
-    } else if (streq(paramName, "maxspeed")) {
-      status.maxspeed = paramVal;
-    } else if (streq(paramName, "min_x")) {
-      status.min_x = paramVal;
-    } else if (streq(paramName, "max_x")) {
-      status.max_x = paramVal;
-    } else if (streq(paramName, "min_y")) {
-      status.min_y = paramVal;
-    } else if (streq(paramName, "max_y")) {
-      status.max_y = paramVal;
-    } else if (streq(paramName, "run_to_zero_max_d")) {
-      status.run_to_zero_max_d = paramVal;
-    } else if (streq(paramName, "run_to_zero_speed")) {
-      status.run_to_zero_speed = paramVal;
-    } else if (streq(paramName, "run_to_zero_dec")) {
-      status.run_to_zero_dec = paramVal;
-    } else if (streq(paramName, "look_zero_edge_max_d")) {
-      status.look_zero_edge_max_d = paramVal;
-    } else if (streq(paramName, "look_zero_edge_speed")) {
-      status.look_zero_edge_speed = paramVal;
-    } else if (streq(paramName, "look_zero_edge_dec")) {
-      status.look_zero_edge_dec = paramVal;
-    } else {
-      ZLOGE(TAG, "invalid param name:%s", paramName);
-      return (int32_t)err::kparam_out_of_range;
-    }
-
-    DO_CMD(module->set_base_param(status));
-    return (int32_t)0;
-  });
-}
diff --git a/components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp b/components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp
deleted file mode 100644
index 34cfeae..0000000
--- a/components/xy_robot_ctrl_module/xy_robot_script_cmder_module.hpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-#include <map>
-
-#include "sdk/os/zos.hpp"
-#include "sdk\components\cmdscheduler\cmd_scheduler.hpp"
-#include "sdk\components\zprotocols\zcancmder\api\i_xyrobot_ctrl_module.hpp"
-namespace iflytop {
-
-class XYRobotScriptCmderModule {
-  CmdScheduler*                      m_cmdScheduler;
-  map<uint8_t, I_XYRobotCtrlModule*> moduler;
-  I_XYRobotCtrlModule*               module;
-
- public:
-  void initialize(CmdScheduler* cmdScheduler);
-  void regmodule(int id, I_XYRobotCtrlModule* robot);
-  void regcmd();
-
- private:
-  int32_t findmodule(int id, I_XYRobotCtrlModule** module);
-};
-
-}  // namespace iflytop
\ No newline at end of file