添加电机设置当前位置为零点指令

main/main.c

@@ -99,6 +99,14 @@ void order_receipt_getStatus(int index) {
   bleuart_notify_send(buffer, strlen((char *)buffer));
 }
 
+void order_receipt_setMotorCurrentSize(int index) {
+  ESP_LOGI(MAIN_LOG_TAG, "Command setMotorCurrentSize execution complete!");
+  uint8_t buffer[256] = {0};
+
+  sprintf((char *)buffer, "{ \"order\": \"receipt\", \"index\": %d }", index);
+  bleuart_notify_send(buffer, strlen((char *)buffer));
+}
+
 void process_setPosition(cJSON *rxjson) {
   // { "order": "setPosition", "ble_uart_index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
   int index = 0;
@@ -131,6 +139,17 @@ void process_getStatus(cJSON *rxjson) {
   order_receipt_getStatus(index);
 }
 
+void process_setMotorCurrentSize(cJSON *rxjson) {
+  int index = 0;
+  if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) {
+    index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index"));
+  }
+
+  motor_set_zero_point();
+
+  order_receipt_setMotorCurrentSize(index);
+}
+
 void processrxjson(cJSON *rxjson) {
   if (!cJSON_IsString(cJSON_GetObjectItem(rxjson, "order"))) {
     return;
@@ -140,9 +159,10 @@ void processrxjson(cJSON *rxjson) {
 
   if (strcmp(order, "setPosition") == 0) {
     process_setPosition(rxjson);
-
   } else if (strcmp(order, "getStatus") == 0) {
     process_getStatus(rxjson);
+  } else if (strcmp(order, "setMotorCurrentSize") == 0) {
+    process_setMotorCurrentSize(rxjson);
   }
 }