update

a8000_protocol

@@ -1 +1 @@
-Subproject commit c3b66e0656239c61edc573842b420863a5cd3832
+Subproject commit 7bfd98cff4587d08a048aff876d8130bcb31d919

sdk

@@ -1 +1 @@
-Subproject commit 49aa1c4693983ad6031f71b0c0b785c6721d9868
+Subproject commit 6b635598f15de93132671779819d8fc37933f7dd

usrc/project_configs.h

@@ -1,5 +1,5 @@
 #pragma once
-#define PC_VERSION           101
+#define PC_VERSION           102
 #define PC_MANUFACTURER      "http://www.iflytop.com/"
 #define PC_PROJECT_NAME      "a8000_subboard"
 #define PC_IFLYTOP_ENABLE_OS 1

usrc/public_service/ext_board_impl.hpp

@@ -12,7 +12,7 @@
 
 namespace iflytop {
 class ExtBoardImpl : public ZIBoard, public ZIModule {
-  ENABLE_MODULE(ExtBoardImpl, kboard, 1);
+  ENABLE_MODULE(ExtBoardImpl, kboard, PC_VERSION);
 
  protected:
   /* data */

usrc/subboards/subboard30_shake_module/pri_board.h

@@ -68,12 +68,12 @@
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE             200  // 20mm    单位0.1mm
 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR2_STEPMOTOR_IHOLD                    2
-#define MOTOR2_STEPMOTOR_IRUN                     8
+#define MOTOR2_STEPMOTOR_IRUN                     20
 #define MOTOR2_STEPMOTOR_IHOLDDELAY               100
 #define MOTOR2_STEPMOTOR_IGLOBALSCALER            1
 #define MOTOR2_MOTOR_DEFAULT_ACC                  300
 #define MOTOR2_MOTOR_DEFAULT_DEC                  300
-#define MOTOR2_MOTOR_DEFAULT_VELOCITY             150
+#define MOTOR2_MOTOR_DEFAULT_VELOCITY             350
 #define MOTOR2_MIN_D                              0
 #define MOTOR2_MAX_D                              0
 #define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            100

usrc/subboards/subboard30_shake_module/subboard30_shake_module.hpp

@@ -12,7 +12,7 @@
 
 namespace iflytop {
 class Subboard30ShakeModule : public ExtBoardImpl {
-  ENABLE_MODULE(Subboard30ShakeModule, kboard, 1);
+  ENABLE_MODULE(Subboard30ShakeModule, kboard, PC_VERSION);
 
  public:
   static Subboard30ShakeModule *ins() {

usrc/subboards/subboard90_optical_module/optical_module.hpp

@@ -11,7 +11,7 @@ namespace iflytop {
 using namespace std;
 
 class OpticalModule : public ZIModule, public ZIA8000OpticalModule {
-  ENABLE_MODULE(OpticalModule, ka8000_optical_module, 1);
+  ENABLE_MODULE(OpticalModule, ka8000_optical_module, PC_VERSION);
 
  public:
   typedef struct {