forked from StopPointTeam/TaiChi
83 lines
2.5 KiB
C++
83 lines
2.5 KiB
C++
#ifndef SERVOTAICHI_H
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#define SERVOTAICHI_H
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#include <Arduino.h>
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//注释以关闭调试功能
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#define SERVO_DEBUG
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#ifdef SERVO_DEBUG
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#define NeoSerialDebug NeoSerial
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#endif
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//与舵机控制板连接串口
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//使用 Mega 板 18 19 作为串口通信端口
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#define SERVO_SERIAL_NUM NeoSerial1
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//与舵机控制板串口通信波特率
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#define SERVO_BAUD_RATE 9600
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//爪子舵机 id
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#define CLAW_SERVO_ID 15
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//爪子打开时舵机位置
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#define CLAW_OPEN_POSITION 500
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//爪子打开用时
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#define CLAW_OPEN_USE_TIME 1000
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//发送部分的指令
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#define FRAME_HEADER 0x55 //帧头
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#define CMD_SERVO_MOVE 0x03 //舵机移动指令
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#define CMD_ACTION_GROUP_RUN 0x06 //运行动作组指令
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#define CMD_ACTION_GROUP_STOP 0x07 //停止动作组运行指令
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#define CMD_ACTION_GROUP_SPEED 0x0B //设置动作组运行速度指令
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//动作组
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#define ACTION_RESET_NUM 99
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#define ACTION_DOWN_NUM 100
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#define ACTION_CATCH_NUM 101
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#define ACTION_RELEASE_NUM 102
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#define ACTION_GAINDOWN_NUM 103
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#define ACTION_GAINCATCH_NUM 104
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#define ACTION_GAINUP_NUM 105
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//默认动作组速度
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#define SERVO_NORMAL_SPEED 1.0
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class Servo
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{
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public:
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Servo();
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static void BeginTransmit(unsigned long baud_rate = SERVO_BAUD_RATE); //打开串口
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static void MoveServo(uint8_t servo_id, uint16_t position, uint16_t time); //控制单个舵机转动
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static void RunActionGroup(uint8_t action_num, uint16_t times); //运行指定动作组
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static void StopActionGroup(void); //停止动作组运行
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static void SetActionGroupSpeed(uint8_t action_num, float speed); //设定指定动作组的运行速度
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static void SetAllActionGroupSpeed(float speed); //设置所有动作组的运行速度
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static void OpenClaw(void); //打开爪子
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static void Reset(float speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
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static void Down(float speed = SERVO_NORMAL_SPEED); //放下爪子，指定速度
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static void Catch(float speed = SERVO_NORMAL_SPEED); //抓取，指定速度
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static void Release(float speed = SERVO_NORMAL_SPEED); //释放，指定速度
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static void GainDown(float speed = SERVO_NORMAL_SPEED); //增益点放下爪子，指定速度
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static void GainCatch(float speed = SERVO_NORMAL_SPEED); //增益点抓取，指定速度
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static void GainUp(float speed = SERVO_NORMAL_SPEED); //增益点抬升，指定速度
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static void StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
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private:
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static NeoHWSerial* NeoSerialX;
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};
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#endif |