update

a8000_inlet_and_outlet_module.launch

@@ -52,7 +52,7 @@
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.max_halt_delay" value="2"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.reset_strategy" value="system_reset"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_check_serial_number" value="true"/>
-    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="001B00273132510838363431"/>
+    <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.stlink_txt_serial_number" value="0046002C3132510838363431"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlink.watchdog_config" value="none"/>
     <booleanAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkenable_rtos" value="false"/>
     <stringAttribute key="com.st.stm32cube.ide.mcu.debug.stlinkrestart_configurations" value="{&quot;fVersion&quot;:1,&quot;fItems&quot;:[{&quot;fDisplayName&quot;:&quot;Reset&quot;,&quot;fIsSuppressible&quot;:false,&quot;fResetAttribute&quot;:&quot;Software system reset&quot;,&quot;fResetStrategies&quot;:[{&quot;fDisplayName&quot;:&quot;Software system reset&quot;,&quot;fLaunchAttribute&quot;:&quot;system_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Hardware reset&quot;,&quot;fLaunchAttribute&quot;:&quot;hardware_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset hardware\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;Core reset&quot;,&quot;fLaunchAttribute&quot;:&quot;core_reset&quot;,&quot;fGdbCommands&quot;:[&quot;monitor reset core\r\n&quot;],&quot;fCmdOptions&quot;:[&quot;-g&quot;]},{&quot;fDisplayName&quot;:&quot;None&quot;,&quot;fLaunchAttribute&quot;:&quot;no_reset&quot;,&quot;fGdbCommands&quot;:[],&quot;fCmdOptions&quot;:[&quot;-g&quot;]}],&quot;fGdbCommandGroup&quot;:{&quot;name&quot;:&quot;Additional commands&quot;,&quot;commands&quot;:[]},&quot;fStartApplication&quot;:true}]}"/>

sdk

@@ -1 +1 @@
-Subproject commit 13e61a82c0d0fb787a749a1ff2aade21c50e4457
+Subproject commit 488b00af87cf243c026274389904993be08acae3

usrc/main.cpp

@@ -33,7 +33,7 @@ void        nvs_init_cb() {}
 static void initsubmodule() {
 #define INLET_SPEED    300
 #define OUTET_SPEED    300
-#define TANSLATE_SPEED 300
+#define TANSLATE_SPEED 500
   /**
    * @brief ÈëÁÏ
    */
@@ -95,9 +95,9 @@ static void initsubmodule() {
     smcm_cfg.base_param.distance_scale_denominator = 1;
     smcm_cfg.base_param.irun                       = 8;
     smcm_cfg.base_param.ihold                      = 1;
-    smcm_cfg.base_param.x_shaft                    = true;
+    smcm_cfg.base_param.x_shaft                    = false;
     smcm_cfg.base_param.maxspeed                   = TANSLATE_SPEED;
-    smcm_cfg.base_param.run_to_zero_speed          = 50;
+    smcm_cfg.base_param.run_to_zero_speed          = 100;
 
     stepMotorCtrlModule.initialize(initer.get_module_id(2), &motor, input, ZARRAY_SIZE(input), nullptr, &smcm_cfg);
     initer.register_module(&stepMotorCtrlModule);