From ebfe38a099788cd1953f4513ecce6468931f77fc Mon Sep 17 00:00:00 2001 From: zhaohe Date: Thu, 25 Jul 2024 09:26:43 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E5=BD=92=E9=9B=B6=E4=B8=A2?= =?UTF-8?q?=E6=AD=A5=E6=A3=80=E6=B5=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- sdk/components/step_motor_ctrl_module/step_motor_ctrl_module.cpp | 2 +- usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h | 4 ++-- 2 files changed, 3 insertions(+), 3 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 2a43f1d..6c62103 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 @@ -112,7 +112,7 @@ int32_t StepMotorCtrlModule::pri_module_xxx_reg(int32_t param_id, bool read, int PROCESS_REG(kreg_step_motor_enable_enc, REG_GET(m_cfg.motor_enable_enc), REG_SET(m_cfg.motor_enable_enc)); PROCESS_REG(kreg_step_motor_dzero_pos, REG_GET(m_cfg.motor_dzero), update_dzero(m_cfg.motor_dzero)); - PROCESS_REG(kret_step_motor_pos_devi_tolerance, REG_GET(m_cfg.pos_devi_tolerance), update_dzero(m_cfg.pos_devi_tolerance)); + PROCESS_REG(kret_step_motor_pos_devi_tolerance, REG_GET(m_cfg.pos_devi_tolerance), REG_SET(m_cfg.pos_devi_tolerance)); default: return err::kmodule_not_find_reg; 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 3b60865..fe69d92 100644 --- a/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h +++ b/usrc/subboards/subboard60_inlet_and_outlet_module/pri_board.h @@ -72,9 +72,9 @@ #define MOTOR2_REFR_MIRROR true #define MOTOR2_VSTART 100 -#define MOTOR2_A1 100 +#define MOTOR2_A1 20 #define MOTOR2_V1 800 -#define MOTOR2_AMAX 500 +#define MOTOR2_AMAX 300 #define MOTOR2_MOTOR_SHAFT false #define MOTOR2_MOTOR_ONE_CIRCLE_PULSE 80