update

sdk

@@ -1 +1 @@
-Subproject commit 189fd81c7b00aee87c73aa15cf5487346a8d14ba
+Subproject commit 7b7aa23519aad7e0d414f12db71ab2413f568cd1

usrc/subboards/subboard70_incubation_turntable/pri_board.h

@@ -44,23 +44,23 @@
 #define MOTOR1_REFL_MIRROR true
 #define MOTOR1_REFR_MIRROR true
 
-#define MOTOR1_MOTOR_SHAFT                        false
+#define MOTOR1_MOTOR_SHAFT                        true
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE             200
 #define MOTOR1_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1
 #define MOTOR1_STEPMOTOR_IHOLD                    10
 #define MOTOR1_STEPMOTOR_IRUN                     31
 #define MOTOR1_STEPMOTOR_IHOLDDELAY               100
-#define MOTOR1_STEPMOTOR_IGLOBALSCALER            50
+#define MOTOR1_STEPMOTOR_IGLOBALSCALER            64
 #define MOTOR1_MOTOR_DEFAULT_VELOCITY             2500
 #define MOTOR1_MIN_D                              TMC5130_DEFAULT__MIN_D
 #define MOTOR1_MAX_D                              TMC5130_DEFAULT__MAX_D
-#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            800
+#define MOTOR1_MOTOR_RUN_TO_ZERO_SPEED            1200
 #define MOTOR1_MOTOR_LOOK_ZERO_EDGE_SPEED         500
 #define MOTOR1_MOTOR_VSTART                       500
 #define MOTOR1_MOTOR_A1                           100
-#define MOTOR1_MOTOR_AMAX                         100
+#define MOTOR1_MOTOR_AMAX                         500
 #define MOTOR1_MOTOR_V1                           1000
-#define MOTOR1_MOTOR_DMAX                         100
+#define MOTOR1_MOTOR_DMAX                         500
 #define MOTOR1_MOTOR_D1                           100
 #define MOTOR1_MOTOR_VSTOP                        500
 #define MOTOR1_MOTOR_TZEROWAIT                    100