From a9ba3e294fc4c10752d880336c37eca79c4869dc Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 28 Jun 2024 21:21:27 +0800 Subject: [PATCH] update --- usrc/subboards/subboard30_shake_module/pri_board.h | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/usrc/subboards/subboard30_shake_module/pri_board.h b/usrc/subboards/subboard30_shake_module/pri_board.h index 0f59837..6948fc4 100644 --- a/usrc/subboards/subboard30_shake_module/pri_board.h +++ b/usrc/subboards/subboard30_shake_module/pri_board.h @@ -41,7 +41,7 @@ #define MOTOR1_STEPMOTOR_IRUN 31 #define MOTOR1_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY #define MOTOR1_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR1_MOTOR_DEFAULT_VELOCITY 1000 +#define MOTOR1_MOTOR_DEFAULT_VELOCITY 1200 #define MOTOR1_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR1_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED 1000 @@ -107,18 +107,18 @@ #define MOTOR3_STEPMOTOR_IRUN 31 #define MOTOR3_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY #define MOTOR3_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR3_MOTOR_DEFAULT_VELOCITY 500 +#define MOTOR3_MOTOR_DEFAULT_VELOCITY 2000 #define MOTOR3_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR3_MAX_D TMC5130_DEFAULT__MAX_D #define MOTOR3_MOTOR_RUN_TO_ZERO_SPEED 100 #define MOTOR3_MOTOR_LOOK_ZERO_EDGE_SPEED 50 -#define MOTOR3_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART -#define MOTOR3_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 +#define MOTOR3_MOTOR_VSTART 100 +#define MOTOR3_MOTOR_A1 300 #define MOTOR3_MOTOR_AMAX 300 -#define MOTOR3_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 +#define MOTOR3_MOTOR_V1 1000 #define MOTOR3_MOTOR_DMAX 300 -#define MOTOR3_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 -#define MOTOR3_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP -#define MOTOR3_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT +#define MOTOR3_MOTOR_D1 300 +#define MOTOR3_MOTOR_VSTOP 100 +#define MOTOR3_MOTOR_TZEROWAIT 100 #define MOTOR3_ENC_RESOLUTION 0 #define MOTOR3_ENABLE_ENC_RESOLUTION 0 \ No newline at end of file