Revision 17:9629eb019892, committed 2019-04-05

Comitter:

nerit

Date:

Fri Apr 05 07:52:39 2019 +0000

Parent:

16:786bb20a6759

Child:

18:7c978f69cc51

Commit message:

aggiornamento del 04/04/2019

Changed in this revision

--- a/main.cpp	Sun Mar 31 15:11:53 2019 +0000
+++ b/main.cpp	Fri Apr 05 07:52:39 2019 +0000
@@ -223,7 +223,7 @@
 void aggioVelocita()
 {
     realGiroSD = seedPerimeter / speedOfSeedWheel;
-    tempoBecco = realGiroSD*444.444f; //(realGiroSD/360.0f)*16000.0f;
+    tempoBecco = realGiroSD*44.4444f; //(realGiroSD/360.0f)*16000.0f;
     frequenzaReale = fixedStepGiroSD/realGiroSD;
     semiPeriodoReale = (1000000.0f/frequenzaReale);
     seedWheelRPM = (speedOfSeedWheel)*K_WheelRPM ;                      // calcola i giri al minuto della ruota di semina           7.37                31,75
@@ -232,7 +232,11 @@
         #if defined(Zucca)
             TBperiod=5.2f*TBrpm*2.0f;   //prova dopo test con contagiri
         #else
-            TBperiod=5.2f*TBrpm;   //prova dopo test con contagiri
+            if (cellsNumber<8.0f){
+                TBperiod=4.8f*TBrpm;   //prova dopo test con contagiri
+            }else{
+                TBperiod=5.2f*TBrpm;   //prova dopo test con contagiri
+            }
         #endif
     #else
         TBfrequency = (TBrpm*K_TBfrequency);                                // 130Hz a 0,29Mts                                                            1397,00 a 1,25mt/s con 15 becchi e 15 celle
@@ -426,7 +430,7 @@
     seedPerimeter = Pi * (seedWheelDiameter-(deepOfSeed*2.0f));         // perimeter of seed wheel
     intraPickDistance = seedPerimeter/pickNumber;
     K_WheelRPM = 60.0f/seedPerimeter;                                   // calcola il K per i giri al minuto della ruota di semina
-    K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f;    // calcola il K per la frequenza di comando del motore di semina
+    //K_WhellFrequency = (seedWheelMotorSteps*SDreductionRatio)/60.0f;    // calcola il K per la frequenza di comando del motore di semina
     rapportoRuote = pickNumber/cellsNumber;                             // calcola il rapporto tra il numero di becchi ed il numero di celle
     SDsectorStep = fixedStepGiroSD / pickNumber;
     TBsectorStep = (TBmotorSteps*TBreductionRatio)/cellsNumber;
@@ -581,9 +585,9 @@
                     divide= 100.0f;
                 }
                 if (posError>higLim) {
-                    //posError=higLim;
-                    posError=0.0f;
-                    motor->soft_hiz();
+                    posError=higLim;
+                    //posError=0.0f;
+                    //motor->soft_hiz();
                 }
                 if (posError<lowLim) {
                     posError=lowLim;
@@ -1050,7 +1054,7 @@
                 //if (tractorSpeed_MtS_timed==0.0f) {
                     pickNumber = rxMsg.data[0];               // numero di becchi installati sulla ruota di semina
                     cellsNumber = rxMsg.data[1];             // numero di celle del tamburo
-                    deepOfSeed=(rxMsg.data[2]/1000.0f);                // deep of seeding
+                    deepOfSeed=((double)rxMsg.data[2]/1000.0f);                // deep of seeding
                     seedWheelDiameter = ((rxMsg.data[4]*0x100)+rxMsg.data[3])/10000.0f;      // seed wheel diameter setting
                     speedWheelDiameter = ((rxMsg.data[6]*0x100)+rxMsg.data[5])/10000.0f;     // variable for tractor speed calculation (need to be set from UI) ( Unit= meters )
                     speedWheelPulse = rxMsg.data[7];          // variable which define the number of pulse each turn of tractor speed wheel (need to be set from UI)
@@ -1330,7 +1334,7 @@
         if ((sincroQui==1)&&(quincStart==1)) {
             if (countPicks==1) {  //decelera
                 scostamento = oldQuincTimeSD;
-                if (scostamento < (tempoBecchiPerQuinc*0.75f)) {
+                if ((scostamento < (tempoBecchiPerQuinc*0.85f))) {
                     double scostPerc = (scostamento/tempoBecchiPerQuinc);
                     percento -= ((double)quincPIDminus/100.0f)*(scostPerc);
                     #if defined(pcSerial)
@@ -1343,7 +1347,7 @@
             }
             if (countPicks==2) {  //accelera
                 scostamento = (double)quincTime.read_ms();
-                if (scostamento < (tempoBecchiPerQuinc*0.75f)) {
+                if (scostamento < (tempoBecchiPerQuinc*0.85f)) {
                     double scostPerc = (scostamento/tempoBecchiPerQuinc);
                     percento += ((double)quincPIDplus/100.0f)*(scostPerc);
                     #if defined(pcSerial)
@@ -1379,7 +1383,7 @@
         if (canDataCheckEnable==true) {
             if (canDataCheck==1) {  // sincro da comunicazione can del valore di posizione del tamburo master
                 canDataCheck=0;
-                double parametro = SDsectorStep/2.0f;
+                double parametro = SDsectorStep/(double)quincSector;
                 double differenza=0.0f;
                 #if defined(mezzo)
                     if (quinconceActive==1) {
@@ -1390,23 +1394,14 @@
                 #else
                     differenza = (double)mast2_Sinc - (double)prePosSD;
                 #endif
+                if (abs(differenza)<=50.0f){differenza=0.0f;}
                 if ((differenza > 0.0f)&&(differenza < parametro)) {
                     double diffPerc = differenza / parametro;
                     percento += ((double)quincPIDplus/100.0f)*abs(diffPerc);
-                    #if defined(pcSerial)
-                        #if defined(quinca)         
-                            pc.printf("m1 %d m2 %d prePo %d diffe %f perce %f parm %f %\n",masterSinc, mast2_Sinc,prePosSD,differenza,percento, parametro);
-                        #endif
-                    #endif
                 }
                 if ((differenza < 0.0f)&&(abs(differenza) < parametro)) {
                     double diffPerc = (double)differenza / parametro;
                     percento -= ((double)quincPIDminus/100.0f)*abs(diffPerc);
-                    #if defined(pcSerial)
-                        #if defined(quinca)
-                            pc.printf("m1 %d m2 %d prePo %d diffe %f perce %f parm %f %\n",masterSinc, mast2_Sinc,prePosSD,differenza,percento, parametro);
-                        #endif
-                    #endif
                 }
                 // questo e il secondo
                 #if !defined(speedMaster)
@@ -1453,6 +1448,22 @@
     }
 #endif
 
+void aggiornati(){
+    #if defined(runner)
+        legPos.detach();
+        TBoldPosition= (uint32_t) motor->get_position();
+        legPos.attach(&step_Reading,0.002f);
+        #if defined(pcSerial)
+            #if defined(TBperS)
+                pc.printf("TBoldPos: %d\n",TBoldPosition);
+            #endif
+        #endif
+        
+    #else
+        TBactualPosition=0;
+    #endif
+}
+
 // ------------------------------------------------------------------------------------------------------------------------------------------------------------------
 // MAIN SECTION
 // ---------------------------------------------------------------------------------------------------------------------------------------------------------------
@@ -1575,9 +1586,10 @@
         TBmotorDirecti=TBforward;
         // definire il pin di clock che è PB_3
         #if defined(Zucca)
-                    motor->run(StepperMotor::BWD,100.0f);
+            motor->run(StepperMotor::BWD,100.0f);
             //motor->step_clock_mode_enable(StepperMotor::FWD);
         #else
+            motor->run(StepperMotor::BWD,5.0f);
             //motor->step_clock_mode_enable(StepperMotor::BWD);
         #endif
         // attiva l'out per il controllo dello stepper in stepClockMode
@@ -1741,6 +1753,10 @@
                     if (quinconceActive==0) {
                         posForQuinc=500;
                     }
+                    if (checkSDrotation==0) {
+                        checkSDrotation=1;
+                        SDwheelTimer.start();
+                    }
                 #endif
                 if (quincCnt<10) {
                     quincCnt++;
@@ -1783,10 +1799,12 @@
                         pc.printf(" SPEED: %f \n",tractorSpeed_MtS_timed);
                     #endif
                 #endif
-                if (timeIntraPick >= (memoIntraPick*2)) {
-                    if ((aspettaStart==0)) {
-                        if (firstStart==0) {
-                            all_pickSignal=1;
+                if (tractorSpeed_MtS_timed>0.0f){
+                    if (timeIntraPick >= (memoIntraPick*2)) {
+                        if ((aspettaStart==0)) {
+                            if (firstStart==0) {
+                                all_pickSignal=1;
+                            }
                         }
                     }
                 }
@@ -1811,10 +1829,12 @@
                             }
                         }
                     }
-                    double oldLastPr = (double)oldLastPulseRead*1.8f;
-                    if((double)speedTimeOut.read_us()> (oldLastPr)) {
-                        if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
-                            all_speedError =1;
+                    if (tractorSpeed_MtS_timed>0.2f){
+                        double oldLastPr = (double)oldLastPulseRead*1.8f;
+                        if((double)speedTimeOut.read_us()> (oldLastPr)) {
+                            if ((firstStart==0)&&(simOk==0)&&(enableSimula==0)) {
+                                all_speedError =1;
+                            }
                         }
                     }
                 #endif
@@ -1843,20 +1863,10 @@
                     }
                     if(countCicli>=cicliAspettaStart) {
                         aspettaStart=0;
-                    #if defined(pcSerial)
-                        #if defined(checkLoop)
-                            pc.printf("NoAspetta\n");
-                        #endif
-                    #endif
                     }
                     if ((lowSpeed==0)&&(aspettaStart==0)&&(lockStart==0)) {
                         syncroCheck=1;
                         beccoPronto=0;
-                    #if defined(pcSerial)
-                        #if defined(checkLoop)
-                            pc.printf("BeccoNo\n");
-                        #endif
-                    #endif
                     }
                     if (trigTB==0) {
                         inhibit=1;
@@ -1961,44 +1971,55 @@
             }
             if ((double)TBactualPosition > ((TBgiroStep/cellsNumber)*1.8f)&&(erroreTamburo==0)) {
                 if (firstStart==0) {
-                    if (cntTbError>2) {
-                        all_cellSignal=1;
-                        #if defined(seedSensor)
-                            resetDelay();
-                        #endif
+                    if (tractorSpeed_MtS_timed>0.5f){
+                        if (cntTbError>5) {
+                            all_cellSignal=1;
+                            #if defined(seedSensor)
+                                resetDelay();
+                            #endif
+                        }
                     }
                 }
                 if (erroreTamburo==0) {
-                    erroreTamburo=1;
-                    TBmotorDirecti=TBreverse;       // rotazione inversa
-                    #if defined(runner)
-                        #if defined(Zucca)
-                            motor->run(StepperMotor::FWD);
+                    if (cellsCountSet>1){
+                        erroreTamburo=1;
+                        TBmotorDirecti=TBreverse;       // rotazione inversa
+                        #if defined(runner)
+                            #if defined(Zucca)
+                                motor->run(StepperMotor::FWD);
+                            #else
+                                motor->run(StepperMotor::BWD);
+                            #endif
                         #else
-                            motor->run(StepperMotor::BWD);
+                            #if defined(Zucca)
+                                motor->step_clock_mode_enable(StepperMotor::FWD);
+                            #else
+                                motor->step_clock_mode_enable(StepperMotor::BWD);
+                            #endif
                         #endif
-                    #else
-                        #if defined(Zucca)
-                            motor->step_clock_mode_enable(StepperMotor::FWD);
-                        #else
-                            motor->step_clock_mode_enable(StepperMotor::BWD);
-                        #endif
-                    #endif
+                    }
                     cntCellsForReload=0;
-                    cntTbError++;
+                    if (tractorSpeed_MtS_timed>0.0f){
+                        cntTbError++;
+                        aggiornati();
+                    }else{
+                        cntTbError=0;
+                    }
                     #if defined(seedSensor)
                         resetDelay();
                     #endif
                 }
             }
-            if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>4)) {
-                if (firstStart==0) {
-                    all_noStepRota=1;
-                    #if defined(seedSensor)
-                        resetDelay();
-                    #endif
+            if (tractorSpeed_MtS_timed>0.0f){
+                if (((double)TBactualPosition > ((TBgiroStep/cellsNumber)*3.0f))||(cntTbError>5)) {
+                    if (firstStart==0) {
+                        all_noStepRota=1;
+                        #if defined(seedSensor)
+                            resetDelay();
+                        #endif
+                    }
+                    cntTbError=0;
                 }
-                cntTbError=0;
             }
 // ----------------------------------------
 // read and manage joystick
@@ -2037,10 +2058,10 @@
                             }
                             oldLocalTractorSpeed = tractorSpeed_MtS_timed;
                         }
-                        if (checkSDrotation==0) {
+                        /*if (checkSDrotation==0) {
                             checkSDrotation=1;
                             SDwheelTimer.start();
-                        }
+                        }*/
                     }
                 }
                 speedTimeOut.reset();
@@ -2104,7 +2125,7 @@
                         tempoTraBecchi_mS = (tempoGiroSD / 25.0f)*1000.0f;      // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
                     }
                 } else {
-                    tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*25.5f))*1000.0f;      // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
+                    tempoTraBecchi_mS = (tempoGiroSD / (SDreductionRatio*dcPulseTurn))*1000.0f;      // tempo tra due impulsi dai becchi in millisecondi ( circa 157mS a 4,5Km/h)
                     #if defined(pcSerial)
                         #if defined(Qnce)
                             pc.printf("tempoGiroSD: %f SDreductionRatio: %f tempoBecchi:%f\n",tempoGiroSD,SDreductionRatio,tempoTraBecchi_mS);
@@ -2123,16 +2144,16 @@
                 double setV=0.0f;
                 double teoriaC=0.0f;
                 double speedCorrectionMachine=0.0f;
-                #if defined(speedMaster)
+                //#if defined(speedMaster)
                     speedCorrectionMachine=(seedWheelDiameter/(seedWheelDiameter-(deepOfSeed*2.0f)))*tractorSpeed_MtS_timed;
-                #else
-                    speedCorrectionMachine=tractorSpeed_MtS_timed;
-                #endif
+                //#else
+                //    speedCorrectionMachine=tractorSpeed_MtS_timed;
+                //#endif
                 //if ((tractorSpeed_MtS_timed>0.0)&&(tractorSpeed_MtS_timed<tabSpeed[0])) {
-                if ((speedCorrectionMachine>0.0)&&(speedCorrectionMachine<tabSpeed[0])) {
+                if ((speedCorrectionMachine>0.0f)&&(speedCorrectionMachine<tabSpeed[0])) {
                     dutyTeorico = tabComan[0];
                 }
-                for (int ii = 0; ii<6; ii++) { // era ii<16
+                for (int ii = 0; ii<tabeling; ii++) { // era ii<16
                     if ((speedCorrectionMachine>=tabSpeed[ii])&&(speedCorrectionMachine<tabSpeed[ii+1])) {
                         // esegue l'interpolazione dei valori stimati di duty in base alla velocità
                         deltaV=tabSpeed[ii+1]-tabSpeed[ii];
@@ -2152,7 +2173,7 @@
                 //if (tractorSpeed_MtS_timed > tabSpeed[16]) {
                 //    dutyTeorico=tractorSpeed_MtS_timed/maxWorkSpeed;
                 //}
-                if (speedCorrectionMachine > tabSpeed[16]) {
+                if (speedCorrectionMachine > tabSpeed[tabeling]) {
                     dutyTeorico=speedCorrectionMachine/maxWorkSpeed;
                 }
                 #if !defined(speedMaster)
@@ -2299,22 +2320,24 @@
                 if (dcActualDuty > 0.95f) {
                     dcActualDuty = 0.95f;
                 }
-                if (dcActualDuty > (dutyTeorico *1.05f)){dcActualDuty=dutyTeorico*1.05f;}
+                if (dcActualDuty > (dutyTeorico *1.15f)){dcActualDuty=dutyTeorico*1.15f;}
                 if (dcActualDuty < (dutyTeorico *0.85f)){dcActualDuty=dutyTeorico*0.85f;}
                 if (olddcActualDuty!=dcActualDuty) {
                     SDmotorPWM.write(1.0f-dcActualDuty);
                     olddcActualDuty=dcActualDuty;
                 }
                 // allarme
-                if (SDwheelTimer.read_ms()>4000) {
-                    if (firstStart==0) {
-                        all_noDcRotati=1;
+                if (tractorSpeed_MtS_timed>0.0f){
+                    if (SDwheelTimer.read_ms()>4000) {
+                        if (firstStart==0) {
+                            all_noDcRotati=1;
+                        }
+                        #if defined(pcSerial)
+                            #if defined(VediAllarmi)
+                                pc.printf("allarme no DC rotation");
+                            #endif
+                        #endif
                     }
-                    #if defined(pcSerial)
-                        #if defined(VediAllarmi)
-                            pc.printf("allarme no DC rotation");
-                        #endif
-                    #endif
                 }
 
                 //***************************************************************************************************************
@@ -2353,19 +2376,9 @@
                             #endif
                         #endif
                         if (TBzeroCyclePulse==1) {
-                            #if defined(pcSerial)
-                                #if defined(checkLoop)
-                                    pc.printf("15f\n");
-                                #endif
-                            #endif
                             #if !defined(runner)
                                 TBticker.detach();
                             #endif
-                            #if defined(pcSerial)
-                                #if defined(loStop)
-                                    pc.printf("A4\n");
-                                #endif
-                            #endif
                             motor->soft_hiz();
                         }
                     }
@@ -2391,11 +2404,6 @@
                             if ((sincroTimer.read_ms()>= tempoDiSincro)) {
                                 if (tractorSpeed_MtS_timed >= minWorkSpeed) {
                                     startCicloTB=1;
-                                    #if defined(pcSerial)
-                                        #if defined(checkLoop)
-                                            pc.printf("startTB\n");
-                                        #endif
-                                    #endif
                                 }
                                 beccoPronto=0;
                             }
@@ -2407,11 +2415,6 @@
                             beccoPronto=0;
                         }
                     }
-                    #if defined(pcSerial)
-                        #if defined(checkLoop)
-                            pc.printf("lowSpeed\n");
-                        #endif
-                    #endif
                     ciclaTB();
                 }
                 //*************************************************************

--- a/main.hpp	Sun Mar 31 15:11:53 2019 +0000
+++ b/main.hpp	Fri Apr 05 07:52:39 2019 +0000
@@ -66,7 +66,7 @@
 //#define provaDC
 //#define clockSpeedOut
 #define startCycleSimulation 1
-#define correzioneAttiva 0
+#define correzioneAttiva 1
 //#define simulaPerCan
 //#define simulaBanco
 

--- a/parameters.hpp	Sun Mar 31 15:11:53 2019 +0000
+++ b/parameters.hpp	Fri Apr 05 07:52:39 2019 +0000
@@ -9,7 +9,7 @@
 double speedWheelPulse = 18.0f;          // variable which define the number of pulse each turn of tractor speed wheel (need to be set from UI)
 // *** seeding wheel
 double seedWheelDiameter = 0.75f;      // seed wheel diameter setting
-double seedWheelMotorSteps = 3200.0f;    // seed wheel motor steps without reduction (defined from driver)
+//double seedWheelMotorSteps = 3200.0f;    // seed wheel motor steps without reduction (defined from driver)
 double seedWheelRPM=0.0f;               // number of turn per minute of seed wheel
 double seedWhellFrequency=0.0f;         // seed wheel frequency which is function of tractor speed
 double seedWheelPeriod=0.0f;            // seed wheel pulse period
@@ -40,9 +40,9 @@
 double dcStopDuty = 0.0f;
 double dcMinDuty = 0.0f;     // definisce il duty cycle minimo alla partenza (corrisponde alla tensione minima di rotazione)
 double dcMaxDuty = 1.0f;     // definisce il duty cycle al massimo della velocità
-double dcMinSpeed = 0.65f;
-double dcMaxSpeed = 1.00f;
-double dcStarting = 0.30f;
+//double dcMinSpeed = 0.65f;
+//double dcMaxSpeed = 1.00f;
+//double dcStarting = 0.30f;
 double fixedStepGiroSD = 9000.0f;                                  // numero di suddivisioni angolo giro della ruota di semina
 double minWorkSpeed=0.19f;//0.138888f;  //metri al secondo pari a 0,5Kmh
 double maxWorkSpeed=1.277777f;  //metri al secondo pari a 4.6Kmh
@@ -50,10 +50,11 @@
 //double tabSpeed[22]={0.10,0.14,0.19,0.22,0.25,0.28,0.33,0.36,0.41,0.45,0.49,0.55,0.59,0.62,0.75,0.80,0.82};
 double tabComan[22]={0.12,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696,0.8696};
 double tabSpeed[22]={0.16,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587,1.587};
+int tabeling=3;
 
 //double minPosSpeed=0.20f;   // metri/secondo (0,20 = 0,72KmH)
-double minSeedSpeed=0.18f;  // attiva il LowSpeed mt/s (0,28 = 1,0KmH)
-double speedForCorrection=0.25f;
+double minSeedSpeed=0.10f;  // attiva il LowSpeed mt/s (0,28 = 1,0KmH)
+double speedForCorrection=0.16f;
 int cicliAspettaStart = 2;
 double avvioGradi=5.0f;
 double angoloFase = 3.0f;

--- a/powerstep.hpp	Sun Mar 31 15:11:53 2019 +0000
+++ b/powerstep.hpp	Fri Apr 05 07:52:39 2019 +0000
@@ -5,8 +5,8 @@
 powerstep01_init_u_t init =
 {
   /* common parameters */
-  //.cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
-  .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_VOLTAGE, // enum powerstep01_CmVm_t
+  .cm.cp.cmVmSelection = POWERSTEP01_CM_VM_CURRENT, // enum powerstep01_CmVm_t
+  //.cm.cp.cmVmSelection = POWERSTEP01_CM_VM_VOLTAGE, // enum powerstep01_CmVm_t
   5500, // Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
   5500, // Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2 582
   180.45, // Maximum speed in step/s, range 15.25 to 15610 steps/s 488 92.45
@@ -14,7 +14,7 @@
   POWERSTEP01_LSPD_OPT_ON, // Low speed optimization bit, enum powerstep01_LspdOpt_t
   15624.00, // Full step speed in step/s, range 7.63 to 15625 steps/s 244.16
   POWERSTEP01_BOOST_MODE_OFF, // Boost of the amplitude square wave, enum powerstep01_BoostMode_t
-  750.00, // Overcurrent threshold settings via enum powerstep01_OcdTh_t 281.25
+  968.75, // Overcurrent threshold settings via enum powerstep01_OcdTh_t 281.25
   STEP_MODE_1_8, // Step mode settings via enum motorStepMode_t
   POWERSTEP01_SYNC_SEL_DISABLED, // Synch. Mode settings via enum powerstep01_SyncSel_t
    (POWERSTEP01_ALARM_EN_OVERCURRENT|
@@ -30,12 +30,12 @@
   POWERSTEP01_WD_EN_DISABLE, // External clock watchdog, enum powerstep01_WdEn_t  
   POWERSTEP01_TBLANK_375ns, // Duration of the blanking time via enum powerstep01_TBlank_t 375
   POWERSTEP01_TDT_125ns, // Duration of the dead time via enum powerstep01_Tdt_t 125
-  270.00, // KVAL Hold torque in mV, range from 0.0mV to 0.996 mV 
-  450.00, // KVAL RUN torque in mV, range from 0.0mV to 0.996 mV 
-  450.00, // KVAL ACC torque in mV, range from 0.0mV to 0.996 mV 
-  450.00, // KVAL DEC torque in mV, range from 0.0mV to 0.996 mV 
-  POWERSTEP01_TOFF_FAST_8us, //Maximum fast decay time , enum powerstep01_ToffFast_t 8
-  POWERSTEP01_FAST_STEP_12us, //Maximum fall step time , enum powerstep01_FastStep_t 12
+  93.60, // KVAL Hold torque in mV, range from 0.0mV to 0.996 mV 
+  273.00, // KVAL RUN torque in mV, range from 0.0mV to 0.996 mV 
+  273.00, // KVAL ACC torque in mV, range from 0.0mV to 0.996 mV 
+  273.00, // KVAL DEC torque in mV, range from 0.0mV to 0.996 mV 
+  POWERSTEP01_TOFF_FAST_28us, //Maximum fast decay time , enum powerstep01_ToffFast_t 8
+  POWERSTEP01_FAST_STEP_28us, //Maximum fall step time , enum powerstep01_FastStep_t 12
   3.0, // Minimum on-time in us, range 0.5us to 64us 3.0
   20.5, // Minimum off-time in us, range 0.5us to 64us 21.0
   POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ, // Clock setting , enum powerstep01_ConfigOscMgmt_t
@@ -45,7 +45,7 @@
   POWERSTEP01_CONFIG_OC_SD_DISABLE, // Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
   POWERSTEP01_CONFIG_UVLOVAL_LOW, // UVLO Threshold via powerstep01_ConfigUvLoVal_t
   POWERSTEP01_CONFIG_VCCVAL_7_5V, // VCC Val, enum powerstep01_ConfigVccVal_t
-  POWERSTEP01_CONFIG_TSW_024us, // Switching period, enum powerstep01_ConfigTsw_t 48
+  POWERSTEP01_CONFIG_TSW_048us, // Switching period, enum powerstep01_ConfigTsw_t 48
   POWERSTEP01_CONFIG_PRED_ENABLE // Predictive current enabling , enum powerstep01_ConfigPredEn_t 
 };
 /* Motor Control Component. */