From baaa29bc3246fbe18869bb299ac33c344a392967 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Fri, 28 Jun 2024 09:44:49 +0800 Subject: [PATCH] update --- sdk | 2 +- usrc/subboards/subboard70_incubation_turntable/pri_board.h | 10 +++++----- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/sdk b/sdk index 189fd81..7b7aa23 160000 --- a/sdk +++ b/sdk @@ -1 +1 @@ -Subproject commit 189fd81c7b00aee87c73aa15cf5487346a8d14ba +Subproject commit 7b7aa23519aad7e0d414f12db71ab2413f568cd1 diff --git a/usrc/subboards/subboard70_incubation_turntable/pri_board.h b/usrc/subboards/subboard70_incubation_turntable/pri_board.h index 04fdc8f..f2c3cb8 100644 --- a/usrc/subboards/subboard70_incubation_turntable/pri_board.h +++ b/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