电机最大旋转角度限定100度

财位指令旋转电机以后返回原位

components/control_plane/src/runtime/control_plane_runtime_workers.c

@@ -47,7 +47,8 @@
 /* Liveness safety bound for the fixed two-cycle wealth spin intro (not the
  * animation length). On timeout the worker proceeds to reveal + rotate anyway. */
 #define CONTROL_PLANE_SPIN_INTRO_TIMEOUT_MS        6000
-#define CONTROL_PLANE_COMMAND_ROTATION_DEG         45.0f
+#define CONTROL_PLANE_COMMAND_ROTATION_DEG         100.0f
+#define CONTROL_PLANE_COMMAND_RETURN_DELAY_MS      5000
 
 #if (configSUPPORT_STATIC_ALLOCATION == 1) && \
     ((defined(CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM) && CONFIG_FREERTOS_TASK_CREATE_ALLOW_EXT_MEM) || \
@@ -716,8 +717,14 @@ static esp_err_t control_plane_apply_wealth_direction(size_t direction_index,
 
     (void)direction_index;
 
-    float current_angle = domain_get_current_angle();
-    return control_plane_rotate_to_angle(current_angle + CONTROL_PLANE_COMMAND_ROTATION_DEG);
+    float start_angle = domain_get_current_angle();
+    esp_err_t rotate_err = control_plane_rotate_to_angle(start_angle + CONTROL_PLANE_COMMAND_ROTATION_DEG);
+    if (rotate_err != ESP_OK) {
+        return rotate_err;
+    }
+
+    vTaskDelay(pdMS_TO_TICKS(CONTROL_PLANE_COMMAND_RETURN_DELAY_MS));
+    return control_plane_rotate_to_angle(start_angle);
 }
 
 static esp_err_t control_plane_run_model_calibration_motion(void)

components/platform/src/platform_stepper_driver.c

@@ -40,7 +40,7 @@
 #define PLATFORM_STEPPER_DECEL_STEPS     48
 #define PLATFORM_STEPPER_STEPS_PER_REV   4128.0f
 #define PLATFORM_STEPPER_POWER_OFF_WAIT_MS 1000
-#define PLATFORM_STEPPER_MAX_ROTATION_DEG 330.0f
+#define PLATFORM_STEPPER_MAX_ROTATION_DEG 100.0f
 #define PLATFORM_GPIO_LOW_BANK_MAX_PIN   31
 #define PLATFORM_GPIO_HIGH_BANK_OFFSET   32