From d0d15a7813a50790218d6ec090b648cabddc6984 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 24 Jul 2024 18:10:05 +0800 Subject: [PATCH] update --- .../step_motor_ctrl_module.cpp | 1 + .../subboard60_inlet_and_outlet_module/pri_board.h | 25 +++++++++++++--------- 2 files changed, 16 insertions(+), 10 deletions(-) diff --git a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp index 28438ef..27306c3 100644 --- a/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp +++ b/sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp @@ -121,6 +121,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int int32_t StepMotorCtrlModule::step_motor_enable(int32_t enable) { ZLOGI(TAG, "m%d motor_enable %ld", m_id, enable); + m_stepM1->stop(); m_stepM1->enable(enable); m_state.enable = enable; return 0; diff --git a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h index 8693a25..d077338 100644 --- a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h +++ b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h @@ -71,25 +71,30 @@ #define MOTOR2_REFL_MIRROR true #define MOTOR2_REFR_MIRROR true +#define MOTOR2_VSTART 100 +#define MOTOR2_A1 300 +#define MOTOR2_V1 800 +#define MOTOR2_AMAX 500 + #define MOTOR2_MOTOR_SHAFT false #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80 #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE_DENOMINATOR 1 #define MOTOR2_STEPMOTOR_IHOLD 3 -#define MOTOR2_STEPMOTOR_IRUN 10 +#define MOTOR2_STEPMOTOR_IRUN 25 #define MOTOR2_STEPMOTOR_IHOLDDELAY TMC5130_DEFAULT__STEPMOTOR_IHOLDDELAY #define MOTOR2_STEPMOTOR_IGLOBALSCALER 0 -#define MOTOR2_MOTOR_DEFAULT_VELOCITY 500 +#define MOTOR2_MOTOR_DEFAULT_VELOCITY 1200 #define MOTOR2_MIN_D TMC5130_DEFAULT__MIN_D #define MOTOR2_MAX_D TMC5130_DEFAULT__MAX_D -#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 300 +#define MOTOR2_MOTOR_RUN_TO_ZERO_SPEED 500 #define MOTOR2_MOTOR_LOOK_ZERO_EDGE_SPEED 100 -#define MOTOR2_MOTOR_VSTART TMC5130_DEFAULT__MOTOR_VSTART -#define MOTOR2_MOTOR_A1 TMC5130_DEFAULT__MOTOR_A1 -#define MOTOR2_MOTOR_AMAX 300 -#define MOTOR2_MOTOR_V1 TMC5130_DEFAULT__MOTOR_V1 -#define MOTOR2_MOTOR_DMAX 300 -#define MOTOR2_MOTOR_D1 TMC5130_DEFAULT__MOTOR_D1 -#define MOTOR2_MOTOR_VSTOP TMC5130_DEFAULT__MOTOR_VSTOP +#define MOTOR2_MOTOR_VSTART MOTOR2_VSTART +#define MOTOR2_MOTOR_A1 MOTOR2_A1 +#define MOTOR2_MOTOR_AMAX MOTOR2_AMAX +#define MOTOR2_MOTOR_V1 MOTOR2_V1 +#define MOTOR2_MOTOR_DMAX MOTOR2_AMAX +#define MOTOR2_MOTOR_D1 MOTOR2_A1 +#define MOTOR2_MOTOR_VSTOP MOTOR2_VSTART #define MOTOR2_MOTOR_TZEROWAIT TMC5130_DEFAULT__MOTOR_TZEROWAIT #define MOTOR2_ENC_RESOLUTION 0 #define MOTOR2_ENABLE_ENC_RESOLUTION 0