From d3696cb389eb9dbdc808d961944bcc3a9fbc2a82 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Sun, 15 Oct 2023 17:16:18 +0800
Subject: [PATCH] fix some feite servo motor bug

---
 components/mini_servo_motor/feite_servo_motor.cpp            | 3 ++-
 components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/components/mini_servo_motor/feite_servo_motor.cpp b/components/mini_servo_motor/feite_servo_motor.cpp
index f60b5e4..e4fe23e 100644
--- a/components/mini_servo_motor/feite_servo_motor.cpp
+++ b/components/mini_servo_motor/feite_servo_motor.cpp
@@ -214,7 +214,7 @@ bool FeiTeServoMotor::reCalibration(int id, int16_t pos) {
   int16_t nowpos;
   DO(getNowPos(id, nowpos));
   ZLOGI(TAG, "reCalibration id:%d nowpos:%d:%d", id, nowpos, pos);
-  DO(setTargetPos(id, pos));
+  DO(setTargetPos(id, nowpos));
   return true;
 }
 
@@ -355,6 +355,7 @@ bool FeiTeServoMotor::tx_and_rx(uint8_t* tx, uint8_t txdatalen, uint8_t* rx, uin
   }
   HAL_UART_DMAStop(m_uart);
   if (overtime_flag) {
+    // ZLOGE(TAG, "txandrx overtime");
     return false;
   }
   return true;
diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
index 1a88a4f..2b3cc80 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
@@ -40,7 +40,7 @@ int32_t MiniRobotCtrlModule::stop(u8 stop_type) {
 int32_t MiniRobotCtrlModule::position_calibrate(s32 nowpos) {
   if (nowpos < 0 || nowpos > 4095) return err::kce_param_out_of_range;
   if (!m_bus->ping(m_id)) return err::kce_subdevice_overtime;
-  if (m_bus->reCalibration(m_id, nowpos)) return err::kce_subdevice_overtime;
+  if (!m_bus->reCalibration(m_id, nowpos)) return err::kce_subdevice_overtime;
   return 0;
 }
 int32_t MiniRobotCtrlModule::rotate(s32 speed, s32 torque, s32 run_time, action_cb_status_t status_cb) {