update extents values

Opentrons · Dec 3, 2024 · 42a10ac · 42a10ac
1 parent 7e7635b
commit 42a10ac
Showing 1 changed file with 8 additions and 8 deletions.
diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
@@ -37,35 +37,35 @@ using Error = errors::ErrorCode;
 struct Defaults {
     struct X {
         static constexpr float SPEED = 200.0;
-        static constexpr float ACCELERATION = 50.0;
+        static constexpr float ACCELERATION = 1500.0;
         static constexpr float SPEED_DISCONT = 5.0;
 
         static constexpr float MM_PER_REV =
             lms::LeadScrewConfig::mm_per_rev(9.7536, 1.0);
         static constexpr float STEPS_PER_REV = 200;
         static constexpr float MICROSTEP = 16;
 
-        // switch-to-switch: 202.0 mm - 5.0 mm offset
-        static constexpr float FAST_HOME_DISTANCE = 197.0;
+        // switch-to-switch: 192.5 mm - 5.0 mm offset
+        static constexpr float FAST_HOME_DISTANCE = 187.5;
     };
 
     struct Z {
         static constexpr float SPEED = 200.0;
-        static constexpr float ACCELERATION = 50.0;
+        static constexpr float ACCELERATION = 80.0;
         static constexpr float SPEED_DISCONT = 5.0;
 
         static constexpr float MM_PER_REV =
             lms::LeadScrewConfig::mm_per_rev(9.7536, 1.0);
         static constexpr float STEPS_PER_REV = 200;
         static constexpr float MICROSTEP = 16;
 
-        // switch-to-switch: 113.75 mm - 5.0 mm offset
-        static constexpr float FAST_HOME_DISTANCE = 108.75;
+        // switch-to-switch: 136.0 mm - 5.0 mm offset
+        static constexpr float FAST_HOME_DISTANCE = 131.0;
     };
 
     struct L {
-        static constexpr float SPEED = 200.0;
-        static constexpr float ACCELERATION = 50.0;
+        static constexpr float SPEED = 100.0;
+        static constexpr float ACCELERATION = 100.0;
         static constexpr float SPEED_DISCONT = 5.0;
 
         static constexpr float MM_PER_REV =