From f2f00c0a7b157ab29715e6dd7502a278ea934dd2 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 4 Jan 2024 20:51:37 +0800
Subject: [PATCH] eq20 add velocity limit

---
 .settings/language.settings.xml | 4 ++--
 sdk                             | 2 +-
 usrc/device.cpp                 | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index 7b365a4..aeb0e32 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-590189052051766916" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1693627890036925926" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-596153906458205550" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1699592744443364560" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/sdk b/sdk
index 0d5a3a5..cc77054 160000
--- a/sdk
+++ b/sdk
@@ -1 +1 @@
-Subproject commit 0d5a3a53c8d3b3d22f5c3963dc94abadab11da7e
+Subproject commit cc77054006205d1a3d1b238d6ecdd59038c007d6
diff --git a/usrc/device.cpp b/usrc/device.cpp
index a36a705..86f6271 100644
--- a/usrc/device.cpp
+++ b/usrc/device.cpp
@@ -107,7 +107,7 @@ void Device::sub_module_init() {
    * @brief 初始化舵机
    * 11->16
    */
-  static MiniRobotCtrlModule::flash_config_t servo_cfg = {.default_torque = 330};
+  static MiniRobotCtrlModule::flash_config_t servo_cfg = {.default_torque = 330, .default_velocity = 0};
   static MiniRobotCtrlModule                 mini_servo[10];
   for (size_t i = 1; i <= 6; i++) {
     int idnum = 10 + i;
@@ -120,7 +120,7 @@ void Device::sub_module_init() {
    * @brief 初始化主轴电机
    */
   static Eq20ServoMotor::servo_config_t default_servo_cfg =  //
-      {.default_acc_time_ms = 1000, .default_velocity = 500, .find_zero_velocity = 100};
+      {.default_acc_time_ms = 1000, .default_velocity = 1000, .find_zero_velocity = 100, .default_velocity_limit = 2000};
   static Eq20ServoMotor eq20_motor;
   eq20_motor.init(1, &m_modbus, 1, default_servo_cfg);
   m_device_manager.registerModule(&eq20_motor);