forked from StopPointTeam/TaiChi
49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
#ifndef SERVO_H
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#define SERVO_H
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#include <Arduino.h>
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#define BAUD_RATE 9600
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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_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_CATCH_NUM 100
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#define ACTION_RELEASE_NUM 101
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//默认动作组速度
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#define SERVO_NORMAL_SPEED 100
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class Servo
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{
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public:
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Servo();
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Servo(HardwareSerial &serial_num);
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void RunActionGroup(uint8_t action_num, uint16_t times);
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void StopActionGroup(void);
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void SetActionGroupSpeed(uint8_t action_num, uint16_t speed);
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void SetAllActionGroupSpeed(uint16_t speed);
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void Reset(uint16_t speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
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void Catch(uint16_t speed = SERVO_NORMAL_SPEED); //抓取，指定速度
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void Release(uint16_t speed = SERVO_NORMAL_SPEED); //释放，指定速度
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void StopAndReset(uint16_t 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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HardwareSerial *SerialX;
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};
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#endif |