update

usrc/main.cpp

@@ -173,7 +173,6 @@ void regfn() {
   });
 
   cmdScheduler.registerCmd("stepmotor45_moveTo", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
-    // stepmotor45_rotate motorid pos
     CHECK_ARGC(2);
     int motorid = atoi(argv[1]);
     int pos     = atoi(argv[2]);
@@ -187,7 +186,6 @@ void regfn() {
   });
 
   cmdScheduler.registerCmd("stepmotor45_moveBy", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
-    // stepmotor45_rotate motorid pos
     CHECK_ARGC(2);
     int motorid = atoi(argv[1]);
     int pos     = atoi(argv[2]);
@@ -201,7 +199,6 @@ void regfn() {
   });
 
   cmdScheduler.registerCmd("stepmotor45_stop", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
-    // stepmotor45_rotate motorid pos
     CHECK_ARGC(1);
     int motorid = atoi(argv[1]);
 
@@ -213,6 +210,19 @@ void regfn() {
     g_step_motor45[motorid].stop();
   });
 
+  cmdScheduler.registerCmd("stepmotor45_setSpeed", [](int argc, char** argv, CmdScheduler::CmdProcessContext* context) {
+    CHECK_ARGC(1);
+    int motorid = atoi(argv[1]);
+    int speed   = atoi(argv[2]);
+
+    if (motorid < 1 || motorid > 6) {
+      ZLOGE(TAG, "motorid out of range");
+      return;
+    }
+
+    g_step_motor45[motorid].setDefaultSpeed(speed);
+  });
+
 /*******************************************************************************
  *                                  ²½½øµç»ú                                   *
  *******************************************************************************/