update

components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp

@@ -284,24 +284,24 @@ void XYRobotCtrlModule::create_default_cfg(flash_config_t& cfg) {
   cfg.ihold          = 1;
   cfg.irun           = 3;
   cfg.iholddelay     = 100;
-  cfg.distance_scale = 1000;
+  cfg.distance_scale = 10000;
   cfg.shift_x        = 0;
   cfg.shift_y        = 0;
 
   // limit
-  cfg.acc      = 300000;
-  cfg.dec      = 300000;
-  cfg.breakdec = 300000;
-  cfg.maxspeed = 300000;
+  cfg.acc      = 300;
+  cfg.dec      = 300;
+  cfg.breakdec = 1600;
+  cfg.maxspeed = 800;
   cfg.min_x    = 0;
   cfg.max_x    = 0;
   cfg.min_y    = 0;
   cfg.max_y    = 0;
 
-  cfg.run_to_zero_max_d     = 5120000;
-  cfg.leave_from_zero_max_d = 51200;
-  cfg.run_to_zero_speed     = 30000;
-  cfg.run_to_zero_dec       = 600000;
+  cfg.run_to_zero_max_d     = 10000 * 100;
+  cfg.leave_from_zero_max_d = 3 * 10000;
+  cfg.run_to_zero_speed     = 300;
+  cfg.run_to_zero_dec       = 1600;
   return;
 }
 
@@ -334,8 +334,8 @@ int32_t XYRobotCtrlModule::set_base_param(const base_param_t& inparam) {
 };
 
 void XYRobotCtrlModule::active_cfg() {
-  m_stepM1->setScale(m_cfg.distance_scale / 1000.0);
-  m_stepM2->setScale(m_cfg.distance_scale / 1000.0);
+  m_stepM1->setScale(m_cfg.distance_scale);
+  m_stepM2->setScale(m_cfg.distance_scale);
   m_stepM1->setIHOLD_IRUN(m_cfg.ihold, m_cfg.irun, m_cfg.iholddelay);
   m_stepM2->setIHOLD_IRUN(m_cfg.ihold, m_cfg.irun, m_cfg.iholddelay);
 }