update

sdk

@@ -1 +1 @@
-Subproject commit 42fbbd4c7b2d17d07d3bc5cb3f603d1466318293
+Subproject commit c698f7e05b12ee3e6af4fa3dcca78c73f902a2f5

usrc/subboards/subboard30_shake_module/pri_board.h

@@ -8,10 +8,12 @@
 #define MOTOR1_ENN             PE3
 #define MOTOR1_SPI_MODE_SELECT PinNull
 #define MOTOR1_REFL            PD13
+#define MOTOR1_REFL_MIRROR     false
 #define MOTOR1_REFR            PinNull
+#define MOTOR1_REFR_MIRROR     false
 
-#define MOTOR1_MOTOR_SHAFT                        true
-#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             15
+#define MOTOR1_MOTOR_SHAFT                        false  // 向外打开为正方向
+#define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             15     // 0.1mm
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR1_STEPMOTOR_IHOLD                    2
 #define MOTOR1_STEPMOTOR_IRUN                     8
@@ -63,7 +65,7 @@
 #define MOTOR3_REFR            PinNull
 
 #define MOTOR3_MOTOR_SHAFT                        true
-#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE             120 // 360转一圈
+#define MOTOR3_MOTOR_ONE_CIRCLE_PULSE             120  // 360转一圈
 #define MOTOR3_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR3_STEPMOTOR_IHOLD                    2
 #define MOTOR3_STEPMOTOR_IRUN                     18

usrc/subboards/subboard30_shake_module/subboard30_shake_module.cpp

@@ -67,8 +67,8 @@ void Subboard30ShakeModule::initialize() {
     motor.setMotorShaft(false);
 
     static ZGPIO input[2];
-    input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-    input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    input[0].initAsInput(MOTOR1_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFL_MIRROR);
+    input[1].initAsInput(MOTOR1_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, MOTOR1_REFR_MIRROR);
 
     StepMotorCtrlModule::config_t stepcfg = {0};
     StepMotorCtrlModule::create_default_cfg(stepcfg);
@@ -158,8 +158,8 @@ void Subboard30ShakeModule::initialize() {
     motor.setMotorShaft(false);
 
     static ZGPIO input[2];
-    input[0].initAsInput(MOTOR3_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
-    input[1].initAsInput(MOTOR3_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, true);
+    input[0].initAsInput(MOTOR3_REFL /*REFL*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
+    input[1].initAsInput(MOTOR3_REFR /*REFR*/, ZGPIO::kMode_nopull, ZGPIO::kIRQ_noIrq, false);
 
     StepMotorCtrlModule::config_t stepcfg = {0};
     StepMotorCtrlModule::create_default_cfg(stepcfg);