From cc77054006205d1a3d1b238d6ecdd59038c007d6 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Thu, 4 Jan 2024 20:50:36 +0800
Subject: [PATCH] eq20 _add max_default_velocity limit

---
 components/eq_20_asb_motor/eq20_servomotor.cpp | 3 ++-
 components/eq_20_asb_motor/eq20_servomotor.hpp | 8 +++++---
 2 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/components/eq_20_asb_motor/eq20_servomotor.cpp b/components/eq_20_asb_motor/eq20_servomotor.cpp
index d6f7281..12efcba 100644
--- a/components/eq_20_asb_motor/eq20_servomotor.cpp
+++ b/components/eq_20_asb_motor/eq20_servomotor.cpp
@@ -280,7 +280,8 @@ int32_t Eq20ServoMotor::module_get_reg(int32_t param_id, int32_t *param_value) {
 int32_t Eq20ServoMotor::module_xxx_reg(int32_t param_id, bool read, int32_t &val) {
   switch (param_id) {
     MODULE_COMMON_PROCESS_REG_CB();
-    PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_servo_config.default_velocity), REG_SET(m_servo_config.default_velocity));
+    PROCESS_REG(kreg_motor_default_velocity, REG_GET(m_servo_config.default_velocity),  //
+                REG_SET(m_servo_config.default_velocity, 0, m_servo_config.default_velocity_limit));
     PROCESS_REG(kreg_module_input_state, module_readio(&val), ACTION_NONE);
     PROCESS_REG(kreg_robot_pos, motor_read_pos(&val), ACTION_NONE);
     default:
diff --git a/components/eq_20_asb_motor/eq20_servomotor.hpp b/components/eq_20_asb_motor/eq20_servomotor.hpp
index 3ca5d2f..e920df8 100644
--- a/components/eq_20_asb_motor/eq20_servomotor.hpp
+++ b/components/eq_20_asb_motor/eq20_servomotor.hpp
@@ -11,6 +11,7 @@ using namespace std;
 
 class Eq20ServoMotor : public ZIModule, public ZIMotor {
   ENABLE_MODULE(Eq20ServoMotor, kmotor_module, 0x0001);
+
  public:
   typedef struct {
     union {
@@ -64,9 +65,10 @@ class Eq20ServoMotor : public ZIModule, public ZIMotor {
   } servo_internal_status_t;
 
   typedef struct {
-    int32_t default_acc_time_ms = 1000;
-    int32_t default_velocity    = 800;
-    int32_t find_zero_velocity  = 100;
+    int32_t default_acc_time_ms    = 1000;
+    int32_t default_velocity       = 800;
+    int32_t find_zero_velocity     = 100;
+    int32_t default_velocity_limit = 3000;
   } servo_config_t;
 
   typedef enum {