update

usrc/subboards/subboard10_hbot_v2/pri_board.h

@@ -30,8 +30,8 @@
  *                                                    电机1                                                            *
  ***********************************************************************************************************************/
 
-#define MOTOR1_CSN             PA4
-#define MOTOR1_ENN             PB7
+#define MOTOR1_CSN PA4
+#define MOTOR1_ENN PB7
 
 #define MOTOR1_REFL        PD0
 #define MOTOR1_REFR        PinNull
@@ -42,10 +42,10 @@
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             60
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR1_STEPMOTOR_IHOLD                    1
-#define MOTOR1_STEPMOTOR_IRUN                     5
+#define MOTOR1_STEPMOTOR_IRUN                     7
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            0
-#define MOTOR1_MOTOR_DEFAULT_VELOCITY             500
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            32
+#define MOTOR1_MOTOR_DEFAULT_VELOCITY             800
 #define MOTOR1_MIN_D                              0
 #define MOTOR1_MAX_D                              0
 #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            400
@@ -63,8 +63,8 @@
  *                                                      电机2                                                          *
  ***********************************************************************************************************************/
 
-#define MOTOR2_CSN             PC4
-#define MOTOR2_ENN             PE13
+#define MOTOR2_CSN PC4
+#define MOTOR2_ENN PE13
 
 #define MOTOR2_REFL        PinNull
 #define MOTOR2_REFR        PinNull
@@ -75,9 +75,9 @@
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             80
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR2_STEPMOTOR_IHOLD                    1
-#define MOTOR2_STEPMOTOR_IRUN                     5
+#define MOTOR2_STEPMOTOR_IRUN                     7
 #define MOTOR2_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR2_STEPMOTOR_IGLOBALSCALER            0
+#define MOTOR2_STEPMOTOR_IGLOBALSCALER            32
 #define MOTOR2_MOTOR_DEFAULT_VELOCITY             500
 #define MOTOR2_MIN_D                              0
 #define MOTOR2_MAX_D                              0

usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp

@@ -21,7 +21,7 @@ using namespace iflytop;
  *                                                        IMPL                                                         *
  ***********************************************************************************************************************/
 void Subboard10HbotV2::initialize() {
-  // IO_INIT();
+  IO_INIT();
   GService::inst()->getZCanProtocolParser()->registerModule(this);
 
   // PB12
@@ -40,15 +40,12 @@ void Subboard10HbotV2::initialize() {
   TMC51X0_1_SD_MODE.initAsOutput(PB4, iflytop::ZGPIO::kMode_nopull, false, false);
   TMC51X0_2_SPI_MODE.initAsOutput(PE11, iflytop::ZGPIO::kMode_nopull, false, true);
   TMC51X0_2_SD_MODE.initAsOutput(PE12, iflytop::ZGPIO::kMode_nopull, false, false);
-
+  osDelay(10);
   motorPowerEnPin.initAsOutput(PB12, iflytop::ZGPIO::kMode_nopull, true, true);
 
-  osDelay(100);
-
   TMC5130_MOTOR_INITER(/*motorid*/ 1, /*moduleid*/ 1);
   TMC5130_MOTOR_INITER(/*motorid*/ 2, /*moduleid*/ 2);
 
-
 #if 0
   /***********************************************************************************************************************
    *                                                         ID1                                                         *