From a406b176a28678b85c28bac53625ebed7760764e Mon Sep 17 00:00:00 2001 From: zhaohe Date: Thu, 25 Jul 2024 09:33:03 +0800 Subject: [PATCH] update --- sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp | 1 + usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h | 6 +++--- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp index 6c62103..5700945 100644 --- a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp +++ b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp @@ -322,6 +322,7 @@ bool StepMotorCtrlModule::exec_move_to_io_task(int32_t ioindex, int32_t directio if (!check_when_run()) return false; // 如果设备已经在零点，则反向移动一定距离远离零点 + if (gpio->getState()) { ZLOGI(TAG, "---------STEP2-------- find edge"); rotate(-direction, lookPointVelocity); 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 fe69d92..0d5d283 100644 --- a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h +++ b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h @@ -72,9 +72,9 @@ #define MOTOR2_REFR_MIRROR true #define MOTOR2_VSTART 100 -#define MOTOR2_A1 20 +#define MOTOR2_A1 200 #define MOTOR2_V1 800 -#define MOTOR2_AMAX 300 +#define MOTOR2_AMAX 500 #define MOTOR2_MOTOR_SHAFT false #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 @@ -86,7 +86,7 @@ #define MOTOR2_MOTOR_DEFAULT_VELOCITY 1200 #define MOTOR2_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR2_MAX_D TMC5130_DEFAULT__MAX_D -#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 500 +#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 300 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 100 #define MOTOR2_MOTOR_VSTART MOTOR2_VSTART #define MOTOR2_MOTOR_A1 MOTOR2_A1