From 811122382ce77a0a04bf941a428a614833b7a15c Mon Sep 17 00:00:00 2001
From: "lxbpxylps@126.com" <lxbpxylps@126.com>
Date: Wed, 10 Mar 2021 23:35:09 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E8=88=B5=E6=9C=BA=E5=BA=93?=
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---
 TaiChi/servoTaiChi.cpp | 24 ++++++++++++++++++++++++
 TaiChi/servoTaiChi.h   | 10 ++++++++--
 2 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/TaiChi/servoTaiChi.cpp b/TaiChi/servoTaiChi.cpp
index a9332e2..94c0d33 100644
--- a/TaiChi/servoTaiChi.cpp
+++ b/TaiChi/servoTaiChi.cpp
@@ -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)
 {
diff --git a/TaiChi/servoTaiChi.h b/TaiChi/servoTaiChi.h
index d20effe..5fa7bc6 100644
--- a/TaiChi/servoTaiChi.h
+++ b/TaiChi/servoTaiChi.h
@@ -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: