update

sdk

@@ -1 +1 @@
-Subproject commit cae0c02a77a7fde8ab474dd888fd2d56e796c3e4
+Subproject commit 2bc7c2531028761c80b721b0a4db279448793e66

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                                                      *
  ***********************************************************************************************************************/
@@ -57,18 +56,18 @@
 #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_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

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;