StopPointTeam/TaiChi
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更新舵机库，增加更多动作

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This commit is contained in:
lxbpxylps@126.com 2021-03-10 23:35:09 +08:00
parent 88297f7934
commit 811122382c
2 changed files with 32 additions and 2 deletions
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24
TaiChi/servoTaiChi.cpp
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@ -142,6 +142,14 @@ void Servo::Reset(float speed)
}
//放下爪子，指定速度
void Servo::Down(float speed)
{
SetActionGroupSpeed(ACTION_DOWN_NUM, speed);
RunActionGroup(ACTION_DOWN_NUM, 1);
}
//抓取，指定速度
void Servo::Catch(float speed)
{
@ -158,6 +166,22 @@ void Servo::Release(float speed)
}
//增益点放下爪子，指定速度
void Servo::GainDown(float speed = SERVO_NORMAL_SPEED)
{
SetActionGroupSpeed(ACTION_GAINDOWN_NUM, speed);
RunActionGroup(ACTION_GAINDOWN_NUM, 1);
}
//增益点抓取，指定速度
void Servo::GainCatch(float speed = SERVO_NORMAL_SPEED)
{
SetActionGroupSpeed(ACTION_GAINCATCH_NUM, speed);
RunActionGroup(ACTION_GAINCATCH_NUM, 1);
}
//停止舵机并恢复初始状态，指定速度
void Servo::StopAndReset(float speed)
{

10
TaiChi/servoTaiChi.h
View File

@ -36,8 +36,11 @@
//动作组
#define ACTION_RESET_NUM 99
#define ACTION_CATCH_NUM 100
#define ACTION_RELEASE_NUM 101
#define ACTION_DOWN_NUM 100
#define ACTION_CATCH_NUM 101
#define ACTION_RELEASE_NUM 102
#define ACTION_GAINDOWN_NUM 103
#define ACTION_GAINCATCH_NUM 104
//默认动作组速度
@ -60,8 +63,11 @@ public:
void OpenClaw(void); //打开爪子
void Reset(float speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
void Down(float speed = SERVO_NORMAL_SPEED); //放下爪子，指定速度
void Catch(float speed = SERVO_NORMAL_SPEED); //抓取，指定速度
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 StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
private: