From c98bc3b1ef4083f3109d77c5b60bd4d8a88719ca Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 25 Jul 2024 20:03:31 +0800
Subject: [PATCH] fix some bug

---
 .../plate_code_scaner_module.cpp                            | 13 ++++++++++---
 usrc/subboards/subboard90_optical_module/pri_board.h        |  2 +-
 2 files changed, 11 insertions(+), 4 deletions(-)

diff --git a/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp b/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp
index f81c4f4..9f47ac0 100644
--- a/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp
+++ b/usrc/subboards/subboard20_plate_clamp_case/plate_code_scaner_module.cpp
@@ -320,8 +320,15 @@ void PlateCodeScanerModule::parsepoint() {
 }
 
 int32_t PlateCodeScanerModule::before_run() { return 0; }
-int32_t PlateCodeScanerModule::after_run() { return 0; }
-bool    PlateCodeScanerModule::check_when_run() { return true; }
+int32_t PlateCodeScanerModule::after_run() {
+  if (creg.module_errorcode != 0) {
+    creg.module_status = 2;
+  } else {
+    creg.module_status = 0;
+  }
+  return 0;
+}
+bool PlateCodeScanerModule::check_when_run() { return true; }
 
 int32_t PlateCodeScanerModule::plate_code_scaner_read_result(int32_t packetIndex, uint8_t* data, int32_t* len) {
   // 每次传10个点
@@ -417,4 +424,4 @@ int32_t PlateCodeScanerModule::read_adc_val() {
   }
 
   return val / (CAPTURE_NUM - 2);
-}
\ No newline at end of file
+}
diff --git a/usrc/subboards/subboard90_optical_module/pri_board.h b/usrc/subboards/subboard90_optical_module/pri_board.h
index b483c06..78a230f 100644
--- a/usrc/subboards/subboard90_optical_module/pri_board.h
+++ b/usrc/subboards/subboard90_optical_module/pri_board.h
@@ -112,7 +112,7 @@
 #define MOTOR2_MOTOR_DEFAULT_VELOCITY             2400
 #define MOTOR2_MIN_D                              0
 #define MOTOR2_MAX_D                              0
-#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            1000
+#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED            500
 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED         200
 #define MOTOR2_MOTOR_VSTART                       MOTOR2_VSTART
 #define MOTOR2_MOTOR_A1                           MOTOR2_A1