From d6412708073886ba3d442ca0cca813f383b53d78 Mon Sep 17 00:00:00 2001 From: "lxbpxylps@126.com" Date: Tue, 16 Mar 2021 09:05:20 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=88=B5=E6=9C=BA=E5=BA=93?= =?UTF-8?q?=EF=BC=8C=E5=A2=9E=E5=8A=A0=E6=8A=AC=E5=8D=87=E5=8A=A8=E4=BD=9C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- TaiChi/servoTaiChi.cpp | 8 ++++++++ TaiChi/servoTaiChi.h | 2 ++ 2 files changed, 10 insertions(+) diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp index 94c0d33..660db85 100644 --- a/TaiChi/servoTaiChi.cpp +++ b/TaiChi/servoTaiChi.cpp @@ -182,6 +182,14 @@ void Servo::GainCatch(float speed = SERVO_NORMAL_SPEED) } +//增益点抬升，指定速度 +void Servo::GainUp(float speed) +{ + SetActionGroupSpeed(ACTION_GAINUP_NUM, speed); + RunActionGroup(ACTION_GAINUP_NUM, 1); +} + + //停止舵机并恢复初始状态，指定速度 void Servo::StopAndReset(float speed) { diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h index 5fa7bc6..e97f68e 100644 --- a/TaiChi/servoTaiChi.h +++ b/TaiChi/servoTaiChi.h @@ -41,6 +41,7 @@ #define ACTION_RELEASE_NUM 102 #define ACTION_GAINDOWN_NUM 103 #define ACTION_GAINCATCH_NUM 104 +#define ACTION_GAINUP_NUM 105 //默认动作组速度 @@ -68,6 +69,7 @@ public: void Release(float speed = SERVO_NORMAL_SPEED); //释放，指定速度 void GainDown(float speed = SERVO_NORMAL_SPEED); //增益点放下爪子，指定速度 void GainCatch(float speed = SERVO_NORMAL_SPEED); //增益点抓取，指定速度 + void GainUp(float speed = SERVO_NORMAL_SPEED); //增益点抬升，指定速度 void StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度 private: