update

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);

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