From 217e37e758ead669e0d68d84c74b275e1ee54000 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 5 Jul 2024 14:38:25 +0800
Subject: [PATCH] update

---
 README.md                                          |  4 +--
 .../subboard90_optical_module/pri_board.h          | 29 +++++++++++++---------
 2 files changed, 19 insertions(+), 14 deletions(-)

diff --git a/README.md b/README.md
index feec27d..6904c60 100644
--- a/README.md
+++ b/README.md
@@ -22,14 +22,14 @@ subboard90_optical_module
 ID地址:
 0x080E0000
 10 :A
-20 :14
+20 :14  板夹仓
 30 :1E
 40 :28
 50 :32
 60 :3C
 70 :46
 80 :50
-90 :5A
+90 :5A   光学模组
 100:64
 110:6E
 200:CB
diff --git a/usrc/subboards/subboard90_optical_module/pri_board.h b/usrc/subboards/subboard90_optical_module/pri_board.h
index eee6ecd..3a6c0fd 100644
--- a/usrc/subboards/subboard90_optical_module/pri_board.h
+++ b/usrc/subboards/subboard90_optical_module/pri_board.h
@@ -97,6 +97,11 @@
 #define MOTOR2_REFL_MIRROR true
 #define MOTOR2_REFR_MIRROR true
 
+#define MOTOR2_VSTART 100
+#define MOTOR2_A1     100
+#define MOTOR2_V1     800
+#define MOTOR2_AMAX   300
+
 #define MOTOR2_MOTOR_SHAFT                        true
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             20
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
@@ -104,18 +109,18 @@
 #define MOTOR2_STEPMOTOR_IRUN                     15
 #define MOTOR2_STEPMOTOR_IHOLDDELAY               1000
 #define MOTOR2_STEPMOTOR_IGLOBALSCALER            0
-#define MOTOR2_MOTOR_DEFAULT_VELOCITY             600
-#define MOTOR2_MIN_D                              TMC5130_DEFAULT__MIN_D
-#define MOTOR2_MAX_D                              TMC5130_DEFAULT__MAX_D
-#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            600
+#define MOTOR2_MOTOR_DEFAULT_VELOCITY             2400
+#define MOTOR2_MIN_D                              0
+#define MOTOR2_MAX_D                              0
+#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            1000
 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         100
-#define MOTOR2_MOTOR_VSTART                       TMC5130_DEFAULT__MOTOR_VSTART
-#define MOTOR2_MOTOR_A1                           TMC5130_DEFAULT__MOTOR_A1
-#define MOTOR2_MOTOR_AMAX                         300
-#define MOTOR2_MOTOR_V1                           TMC5130_DEFAULT__MOTOR_V1
-#define MOTOR2_MOTOR_DMAX                         300
-#define MOTOR2_MOTOR_D1                           TMC5130_DEFAULT__MOTOR_D1
-#define MOTOR2_MOTOR_VSTOP                        TMC5130_DEFAULT__MOTOR_VSTOP
-#define MOTOR2_MOTOR_TZEROWAIT                    TMC5130_DEFAULT__MOTOR_TZEROWAIT
+#define MOTOR2_MOTOR_VSTART                       MOTOR2_VSTART
+#define MOTOR2_MOTOR_A1                           MOTOR2_A1
+#define MOTOR2_MOTOR_AMAX                         MOTOR2_AMAX
+#define MOTOR2_MOTOR_V1                           MOTOR2_V1
+#define MOTOR2_MOTOR_DMAX                         MOTOR2_AMAX
+#define MOTOR2_MOTOR_D1                           MOTOR2_A1
+#define MOTOR2_MOTOR_VSTOP                        MOTOR2_VSTART
+#define MOTOR2_MOTOR_TZEROWAIT                    100
 #define MOTOR2_ENC_RESOLUTION                     0
 #define MOTOR2_ENABLE_ENC_RESOLUTION              0
\ No newline at end of file