From 509ce5fd5958af8d6881482b5e8644a925c93267 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 7 Jun 2024 09:56:15 +0800 Subject: [PATCH] update --- usrc/public_service/instance_init.hpp | 4 ++-- usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/usrc/public_service/instance_init.hpp b/usrc/public_service/instance_init.hpp index 3e23239..fa28d8d 100644 --- a/usrc/public_service/instance_init.hpp +++ b/usrc/public_service/instance_init.hpp @@ -11,11 +11,11 @@ #define TMC5130_DEFAULT__MOTOR_RUN_TO_ZERO_SPEED 300 #define TMC5130_DEFAULT__MOTOR_LOOK_ZERO_EDGE_SPEED 200 #define TMC5130_DEFAULT__MOTOR_VSTART 100 -#define TMC5130_DEFAULT__MOTOR_A1 10 +#define TMC5130_DEFAULT__MOTOR_A1 30 #define TMC5130_DEFAULT__MOTOR_AMAX 100 #define TMC5130_DEFAULT__MOTOR_V1 200 #define TMC5130_DEFAULT__MOTOR_DMAX 100 -#define TMC5130_DEFAULT__MOTOR_D1 10 +#define TMC5130_DEFAULT__MOTOR_D1 30 #define TMC5130_DEFAULT__MOTOR_VSTOP 100 #define TMC5130_DEFAULT__MOTOR_TZEROWAIT 0 diff --git a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h index 792062e..e8605fc 100644 --- a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h +++ b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h @@ -41,7 +41,7 @@ #define MOTOR1_STEPMOTOR_IRUN 24 #define MOTOR1_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR1_MOTOR_DEFAULT_VELOCITY TMC5130_DEFAULT__MOTOR_DEFAULT_VELOCITY +#define MOTOR1_MOTOR_DEFAULT_VELOCITY 300 #define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 0 @@ -107,7 +107,7 @@ #define MOTOR3_STEPMOTOR_IRUN 24 #define MOTOR3_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY #define MOTOR3_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR3_MOTOR_DEFAULT_VELOCITY TMC5130_DEFAULT__MOTOR_DEFAULT_VELOCITY +#define MOTOR3_MOTOR_DEFAULT_VELOCITY 300 #define MOTOR3_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR3_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED 0