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a8000_subboard_sdk
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fix eq20 some bug

master
zhaohe 2 years ago
parent
903c2e5270
commit
faf1160fee
1 changed files with 2 additions and 2 deletions
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  1. 4
      components/eq_20_asb_motor/eq20_servomotor.cpp

4
components/eq_20_asb_motor/eq20_servomotor.cpp
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@ -100,7 +100,7 @@ write_pn_bit 1 1501 1 0
write_pn_bit 1 1501 1 1 write_pn_bit 1 1501 1 1
#endif #endif
DO(stop()) DO(stop())
DO(write_pn(600, 11));
DO(write_pn(600, 8));
DO(write_pn(601, lookzeropoint_rpm)); DO(write_pn(601, lookzeropoint_rpm));
DO(write_pn(602, findzero_edge_rpm)); DO(write_pn(602, findzero_edge_rpm));
DO(write_pn(603, lookzeropoint_acc_time)); DO(write_pn(603, lookzeropoint_acc_time));
@ -113,7 +113,7 @@ write_pn_bit 1 1501 1 1
} }
int32_t Eq20ServoMotor::move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time) { int32_t Eq20ServoMotor::move_to_zero_backward(int32_t lookzeropoint_rpm, int32_t findzero_edge_rpm, int32_t lookzeropoint_acc_time) {
DO(stop()) DO(stop())
DO(write_pn(600, 8));
DO(write_pn(600, 10));
DO(write_pn(601, lookzeropoint_rpm)); DO(write_pn(601, lookzeropoint_rpm));
DO(write_pn(602, findzero_edge_rpm)); DO(write_pn(602, findzero_edge_rpm));
DO(write_pn(603, lookzeropoint_acc_time)); DO(write_pn(603, lookzeropoint_acc_time));

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