From 64f89e7ea387fa24153283fb86c3e03f2575f933 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 26 Jun 2024 18:14:09 +0800 Subject: [PATCH] update --- a8000_protocol | 2 +- sdk | 2 +- usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp | 10 ---------- 3 files changed, 2 insertions(+), 12 deletions(-) diff --git a/a8000_protocol b/a8000_protocol index 00526d4..59082bc 160000 --- a/a8000_protocol +++ b/a8000_protocol @@ -1 +1 @@ -Subproject commit 00526d4990cde04d834003a4059a3a7db32f4f4e +Subproject commit 59082bcc8c2a856133f693619bbd1fdc64dba0fd diff --git a/sdk b/sdk index b457781..4fa0ad7 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit b457781a9539d659d02d08a25f85d66886933368 +Subproject commit 4fa0ad7174d45b7a0c0aa6972309f5f1f6d0caa3 diff --git a/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp b/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp index c54f890..c9cb40a 100644 --- a/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp +++ b/usrc/subboards/subboard10_hbot_v2/subboard10_hbot_v2.cpp @@ -77,16 +77,6 @@ void Subboard10HbotV2::initialize() { ZLOGI(TAG, "motorb initialize TMC51X0:%x", motora.readICVersion()); } - motora.setAcceleration(300); - motora.setDeceleration(300); - motora.setIHOLD_IRUN(0, 4, 10); - - motorb.setAcceleration(300); - motorb.setDeceleration(300); - motorb.setIHOLD_IRUN(0, 4, 10); - - motora.rotate(0); - motorb.rotate(0); /******************************************************************************* * zcanXYRobotCtrlModule *