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 084a2cb..2f2ef0c 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.cpp
@@ -428,4 +428,6 @@ int32_t MiniRobotCtrlModule::motor_easy_rotate(int32_t direction) {
 }
 int32_t MiniRobotCtrlModule::motor_easy_move_by(int32_t distance) { return move_by(distance, 0, m_cfg.default_torque, nullptr); }
 int32_t MiniRobotCtrlModule::motor_easy_move_to(int32_t position) { return move_to(position, 0, m_cfg.default_torque, nullptr); }
-int32_t MiniRobotCtrlModule::motor_easy_move_to_zero(int32_t direction) { return motor_easy_move_to(0); }
\ No newline at end of file
+int32_t MiniRobotCtrlModule::motor_easy_move_to_zero(int32_t direction) { return motor_easy_move_to(0); }
+
+int32_t MiniRobotCtrlModule::motor_easy_set_current_pos(int32_t pos) { return position_calibrate(pos); }
diff --git a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
index 847daf0..556b3f7 100644
--- a/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
+++ b/components/mini_servo_motor/mini_servo_motor_ctrl_module.hpp
@@ -90,10 +90,11 @@ class MiniRobotCtrlModule : public I_MiniServoModule, public ZIModule, public ZI
 
   virtual int32_t motor_read_pos(int32_t *pos);
 
-  virtual int32_t motor_easy_rotate(int32_t direction);
-  virtual int32_t motor_easy_move_by(int32_t distance);
-  virtual int32_t motor_easy_move_to(int32_t position);
-  virtual int32_t motor_easy_move_to_zero(int32_t direction);
+  virtual int32_t motor_easy_rotate(int32_t direction) override;
+  virtual int32_t motor_easy_move_by(int32_t distance) override;
+  virtual int32_t motor_easy_move_to(int32_t position) override;
+  virtual int32_t motor_easy_move_to_zero(int32_t direction) override;
+  virtual int32_t motor_easy_set_current_pos(int32_t pos) override;
 
  private:
   void    call_status_cb(action_cb_status_t cb, int32_t status);
diff --git a/components/zprotocols/zcancmder_v2 b/components/zprotocols/zcancmder_v2
index 7ccc133..f20a0f5 160000
--- a/components/zprotocols/zcancmder_v2
+++ b/components/zprotocols/zcancmder_v2
@@ -1 +1 @@
-Subproject commit 7ccc1333efb292c976ce5f589bb1f9499987b6f2
+Subproject commit f20a0f5affb28e0f4ae6c6dddfea7c54b493fe54