diff --git a/sdk b/sdk index cae0c02..2bc7c25 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit cae0c02a77a7fde8ab474dd888fd2d56e796c3e4 +Subproject commit 2bc7c2531028761c80b721b0a4db279448793e66 diff --git a/usrc/subboards/subboard70_incubation_turntable/pri_board.h b/usrc/subboards/subboard70_incubation_turntable/pri_board.h index 8fec5ba..0189b39 100644 --- a/usrc/subboards/subboard70_incubation_turntable/pri_board.h +++ b/usrc/subboards/subboard70_incubation_turntable/pri_board.h @@ -22,7 +22,6 @@ #define EXT_INPUT_IO8_MIRROR true #define EXT_INPUT_IO9_MIRROR true - /*********************************************************************************************************************** * 板载扩展IO * ***********************************************************************************************************************/ @@ -56,19 +55,19 @@ #define MOTOR1_REFL_MIRROR true #define MOTOR1_REFR_MIRROR true -#define MOTOR1_MOTOR_SHAFT false // -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 387096 // 3600 = 93圈, 3600/93 = 38.70967741935484 -#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1000 // +#define MOTOR1_MOTOR_SHAFT false // +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE 200 // 36000 = 180圈, 0.01 +#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 // #define MOTOR1_STEPMOTOR_IHOLD 1 #define MOTOR1_STEPMOTOR_IRUN 5 #define MOTOR1_STEPMOTOR_IHOLDDELAY 100 #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 #define MOTOR1_MOTOR_DEFAULT_ACC 900 #define MOTOR1_MOTOR_DEFAULT_DEC 900 -#define MOTOR1_MOTOR_DEFAULT_VELOCITY 300 +#define MOTOR1_MOTOR_DEFAULT_VELOCITY 800 #define MOTOR1_MIN_D 0 #define MOTOR1_MAX_D 0 -#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 200 +#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 500 #define MOTOR1_MOTOR_RUN_TO_ZERO_DEC 900 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED 200 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_DEC 900 diff --git a/usrc/subboards/subboard90_optical_module/optical_module.cpp b/usrc/subboards/subboard90_optical_module/optical_module.cpp index e756441..c9af104 100644 --- a/usrc/subboards/subboard90_optical_module/optical_module.cpp +++ b/usrc/subboards/subboard90_optical_module/optical_module.cpp @@ -615,8 +615,8 @@ int32_t OpticalModule::t_read_one_point(int32_t lastergain, int32_t ampgain, int // a8000_optical_set_laster_gain(kt_optical, lastergain); // a8000_optical_set_scan_amp_gain(kt_optical, ampgain); - GPIO_TypeDef* tlaster_port = m_t_laster_enable_io.getPort(); - uint16_t tlaster_pin = m_t_laster_enable_io.getPin(); + GPIO_TypeDef* tlaster_port = m_t_laster_enable_io.getHalPinPort(); + uint16_t tlaster_pin = m_t_laster_enable_io.getHalPin(); uint32_t openstate = 0; uint32_t closestate = 0;