forked from StopPointTeam/TaiChi
53 lines
1.4 KiB
C++
53 lines
1.4 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 DEBUG
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#define SERVO_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 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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Servo(HardwareSerial &serial_num); //构造函数，指定串口通信端口
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void RunActionGroup(uint8_t action_num, uint16_t times); //运行指定动作组
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void StopActionGroup(void); //停止动作组运行
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void SetActionGroupSpeed(uint8_t action_num, float speed); //设定指定动作组的运行速度
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void SetAllActionGroupSpeed(float speed); //设置所有动作组的运行速度
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void Reset(float speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
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void Catch(float speed = SERVO_NORMAL_SPEED); //抓取，指定速度
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void Release(float speed = SERVO_NORMAL_SPEED); //释放，指定速度
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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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HardwareSerial *SerialX;
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};
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#endif |