From a61ce72cd0a91f0ac8b5b2d9b04e03e5e59e204a Mon Sep 17 00:00:00 2001
From: "lxbpxylps@126.com" <lxbpxylps@126.com>
Date: Sun, 14 Feb 2021 12:40:39 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=20servo=20=E5=BA=93?=
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---
 TaiChi/servoTaiChi.cpp | 17 +++++++++--------
 TaiChi/servoTaiChi.h   | 14 +++++++-------
 2 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp
index aa47c2c..d100538 100644
--- a/TaiChi/servoTaiChi.cpp
+++ b/TaiChi/servoTaiChi.cpp
@@ -71,16 +71,17 @@ void Servo::StopActionGroup(void)
  * Return:       无返回
  * Others:
  *********************************************************************************/
-void Servo::SetActionGroupSpeed(uint8_t action_num, uint16_t speed)
+void Servo::SetActionGroupSpeed(uint8_t action_num, double speed)
 {
+    uint16_t speed_int = (uint16_t)speed;
     uint8_t buf[7];
     buf[0] = FRAME_HEADER; //填充帧头
     buf[1] = FRAME_HEADER;
     buf[2] = 5;                      //数据长度，数据帧除帧头部分数据字节数，此命令固定为5
     buf[3] = CMD_ACTION_GROUP_SPEED; //填充设置动作组速度命令
     buf[4] = action_num;            //填充要设置的动作组号
-    buf[5] = GET_LOW_BYTE(speed);    //获得目标速度的低八位
-    buf[6] = GET_HIGH_BYTE(speed);   //获得目标熟读的高八位
+    buf[5] = GET_LOW_BYTE(speed_int);    //获得目标速度的低八位
+    buf[6] = GET_HIGH_BYTE(speed_int);   //获得目标熟读的高八位
 
     SerialX->write(buf, 7); //发送数据帧
 }
@@ -93,14 +94,14 @@ void Servo::SetActionGroupSpeed(uint8_t action_num, uint16_t speed)
  * Return:       无返回
  * Others:
  *********************************************************************************/
-void Servo::SetAllActionGroupSpeed(uint16_t speed)
+void Servo::SetAllActionGroupSpeed(double speed)
 {
     SetActionGroupSpeed(0xFF, speed); //调用动作组速度设定，组号为0xFF时设置所有组的速度
 }
 
 
 //恢复初始状态，指定速度
-void Servo::Reset(uint16_t speed)
+void Servo::Reset(double speed)
 {
     SetActionGroupSpeed(ACTION_RESET_NUM, speed);
     RunActionGroup(ACTION_RESET_NUM, 1);
@@ -109,7 +110,7 @@ void Servo::Reset(uint16_t speed)
 
 
 //抓取，指定速度
-void Servo::Catch(uint16_t speed)
+void Servo::Catch(double speed)
 {
     SetActionGroupSpeed(ACTION_CATCH_NUM, speed);
     RunActionGroup(ACTION_CATCH_NUM, 1);
@@ -118,7 +119,7 @@ void Servo::Catch(uint16_t speed)
 
 
 //释放，指定速度
-void Servo::Release(uint16_t speed)
+void Servo::Release(double speed)
 {
     SetActionGroupSpeed(ACTION_RELEASE_NUM, speed);
     RunActionGroup(ACTION_RELEASE_NUM, 1);
@@ -127,7 +128,7 @@ void Servo::Release(uint16_t speed)
 
 
 //停止舵机并恢复初始状态，指定速度
-void Servo::StopAndReset(uint16_t speed)
+void Servo::StopAndReset(double speed)
 {
     StopActionGroup();
     Reset(speed);
diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h
index 7561ffe..f4a3077 100644
--- a/TaiChi/servoTaiChi.h
+++ b/TaiChi/servoTaiChi.h
@@ -22,7 +22,7 @@
 
 
 //默认动作组速度
-#define SERVO_NORMAL_SPEED 100
+#define SERVO_NORMAL_SPEED 1.0
 
 
 class Servo
@@ -33,13 +33,13 @@ public:
 
     void RunActionGroup(uint8_t action_num, uint16_t times);
     void StopActionGroup(void);
-    void SetActionGroupSpeed(uint8_t action_num, uint16_t speed);
-    void SetAllActionGroupSpeed(uint16_t speed);
+    void SetActionGroupSpeed(uint8_t action_num, double speed);
+    void SetAllActionGroupSpeed(double speed);
 
-    void Reset(uint16_t speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
-    void Catch(uint16_t speed = SERVO_NORMAL_SPEED); //抓取，指定速度
-    void Release(uint16_t speed = SERVO_NORMAL_SPEED); //释放，指定速度
-    void StopAndReset(uint16_t speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
+    void Reset(double speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
+    void Catch(double speed = SERVO_NORMAL_SPEED); //抓取，指定速度
+    void Release(double speed = SERVO_NORMAL_SPEED); //释放，指定速度
+    void StopAndReset(double speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
 
 private:
     HardwareSerial *SerialX;