From 1aa9ede09bb1dec856f4519a6c47b934662883b5 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Wed, 6 Sep 2023 03:37:55 +0800
Subject: [PATCH] update

---
 usrc/main.cpp | 16 +++++++++++++---
 1 file changed, 13 insertions(+), 3 deletions(-)

diff --git a/usrc/main.cpp b/usrc/main.cpp
index fb9c9e3..51cc61d 100644
--- a/usrc/main.cpp
+++ b/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                                   *
  *******************************************************************************/