From 3cee73f07a8547b9fe33b0188413c07a3f903174 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 23 Oct 2023 15:46:30 +0800 Subject: [PATCH] fix hbot distance compute bug --- components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp index 73236ea..1804e56 100644 --- a/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp +++ b/components/xy_robot_ctrl_module/xy_robot_ctrl_module.cpp @@ -336,8 +336,8 @@ int32_t XYRobotCtrlModule::set_base_param(const base_param_t& inparam) { }; void XYRobotCtrlModule::active_cfg() { - m_stepM1->setScale(m_basecfg.distance_scale); - m_stepM2->setScale(m_basecfg.distance_scale); + m_stepM1->setScale(m_basecfg.distance_scale * 2); + m_stepM2->setScale(m_basecfg.distance_scale * 2); m_stepM1->setIHOLD_IRUN(m_basecfg.ihold, m_basecfg.irun, m_basecfg.iholddelay); m_stepM2->setIHOLD_IRUN(m_basecfg.ihold, m_basecfg.irun, m_basecfg.iholddelay); }