project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update

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zhaohe 1 year ago
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189fd81c7b
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  1. 1
      components/tmc/ic/ztmc5130.cpp

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components/tmc/ic/ztmc5130.cpp
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@ -306,6 +306,7 @@ int32_t TMC51X0::to_motor_pos(int32_t pos) { //
int32_t TMC51X0::to_user_pos(int32_t pos) { // int32_t TMC51X0::to_user_pos(int32_t pos) { //
int32_t val = pos / m_onecirclepulse * m_scale / m_scale_deceleration + 0.5; int32_t val = pos / m_onecirclepulse * m_scale / m_scale_deceleration + 0.5;
// ZLOGI("TMC5130", "to_user_pos %d,%d", pos, val);
return val; return val;
} // } //
int32_t TMC51X0::to_user_vel(int32_t vel) { // int32_t TMC51X0::to_user_vel(int32_t vel) { //

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