update

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;

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