From 6473e5a41d097c4af5247cd96a6b35a9a47ca11c Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 7 Jun 2024 09:28:34 +0800
Subject: [PATCH] update

---
 components/tmc/ic/ztmc5130.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/components/tmc/ic/ztmc5130.cpp b/components/tmc/ic/ztmc5130.cpp
index ad72830..b279d5e 100644
--- a/components/tmc/ic/ztmc5130.cpp
+++ b/components/tmc/ic/ztmc5130.cpp
@@ -201,11 +201,11 @@ void TMC51X0::moveTo(int32_t position, uint32_t velocityMax) {
 void TMC51X0::moveToEnd(int32_t direction, uint32_t velocityMax) {
   if (direction > 0) {
     writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
-    writeInt(TMC5130_VMAX, velocityMax);
+    writeInt(TMC5130_VMAX, to_motor_vel(velocityMax));
     writeInt(TMC5130_XTARGET, INT32_MAX);
   } else {
     writeInt(TMC5130_RAMPMODE, TMC5130_MODE_POSITION);
-    writeInt(TMC5130_VMAX, velocityMax);
+    writeInt(TMC5130_VMAX, to_motor_vel(velocityMax));
     writeInt(TMC5130_XTARGET, INT32_MIN);
   }
 }