diff --git a/usrc/subboards/subboard30_shake_module/pri_board.h b/usrc/subboards/subboard30_shake_module/pri_board.h index 6948fc4..9cdb5eb 100644 --- a/usrc/subboards/subboard30_shake_module/pri_board.h +++ b/usrc/subboards/subboard30_shake_module/pri_board.h @@ -70,21 +70,21 @@ #define MOTOR2_MOTOR_SHAFT false #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 200 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 -#define MOTOR2_STEPMOTOR_IHOLD 2 -#define MOTOR2_STEPMOTOR_IRUN 20 +#define MOTOR2_STEPMOTOR_IHOLD 10 +#define MOTOR2_STEPMOTOR_IRUN 25 #define MOTOR2_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY #define MOTOR2_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR2_MOTOR_DEFAULT_VELOCITY 350 +#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 #define MOTOR2_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR2_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 100 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 50 #define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART -#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR2_MOTOR_A1 10 #define MOTOR2_MOTOR_AMAX 300 #define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 #define MOTOR2_MOTOR_DMAX 300 -#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 +#define MOTOR2_MOTOR_D1 10 #define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR2_ENC_RESOLUTION 0