From 2c05000a01e2fabd00e98a30aec31d580906cb83 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 28 Jun 2024 10:21:23 +0800 Subject: [PATCH] update --- usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp b/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp index 377c8c3..6e86eb2 100644 --- a/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp +++ b/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp @@ -90,14 +90,14 @@ void Subboard10HbotV2::initialize() { static XYRobotCtrlModule::config_t xy_defaultcfg; XYRobotCtrlModule::create_default_cfg(xy_defaultcfg); -#define LEVEL1_A 15 -#define LEVEL2_A 40 +#define LEVEL1_A 10 +#define LEVEL2_A 30 #define START_AND_STOP_V 30 #define V1 200 xy_defaultcfg.robot_type = XYRobotCtrlModule::khbot; xy_defaultcfg.one_circle_pulse = 7344; - xy_defaultcfg.one_circle_pulse_denominator = 1; + xy_defaultcfg.one_circle_pulse_denominator = 10; xy_defaultcfg.ihold = 10; xy_defaultcfg.irun = 31; xy_defaultcfg.iholddelay = 100; @@ -117,10 +117,10 @@ void Subboard10HbotV2::initialize() { xy_defaultcfg.default_velocity = 800; xy_defaultcfg.shift_x = 0; xy_defaultcfg.shift_y = 0; - xy_defaultcfg.min_x = -20; - xy_defaultcfg.min_y = -20; - xy_defaultcfg.max_x = 55150; - xy_defaultcfg.max_y = 41500; + xy_defaultcfg.min_x = -2; + xy_defaultcfg.min_y = -2; + xy_defaultcfg.max_x = 5515; + xy_defaultcfg.max_y = 4150; xy_defaultcfg.run_to_zero_speed = 80; xy_defaultcfg.look_zero_edge_speed = 10;