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更新 servo 库

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This commit is contained in:
lxbpxylps@126.com 2021-02-14 12:40:39 +08:00
parent 575b6cefaf
commit a61ce72cd0
2 changed files with 16 additions and 15 deletions
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17
TaiChi/servoTaiChi.cpp
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@ -71,16 +71,17 @@ void Servo::StopActionGroup(void)
* Return: 无返回 * Return: 无返回
* Others: * Others:
*********************************************************************************/ *********************************************************************************/
void Servo::SetActionGroupSpeed(uint8_t action_num, uint16_t speed) void Servo::SetActionGroupSpeed(uint8_t action_num, double speed)
{ {
uint16_t speed_int = (uint16_t)speed;
uint8_t buf[7]; uint8_t buf[7];
buf[0] = FRAME_HEADER; //填充帧头 buf[0] = FRAME_HEADER; //填充帧头
buf[1] = FRAME_HEADER; buf[1] = FRAME_HEADER;
buf[2] = 5; //数据长度，数据帧除帧头部分数据字节数，此命令固定为5 buf[2] = 5; //数据长度，数据帧除帧头部分数据字节数，此命令固定为5
buf[3] = CMD_ACTION_GROUP_SPEED; //填充设置动作组速度命令 buf[3] = CMD_ACTION_GROUP_SPEED; //填充设置动作组速度命令
buf[4] = action_num; //填充要设置的动作组号 buf[4] = action_num; //填充要设置的动作组号
buf[5] = GET_LOW_BYTE(speed); //获得目标速度的低八位 buf[5] = GET_LOW_BYTE(speed_int); //获得目标速度的低八位
buf[6] = GET_HIGH_BYTE(speed); //获得目标熟读的高八位 buf[6] = GET_HIGH_BYTE(speed_int); //获得目标熟读的高八位
SerialX->write(buf, 7); //发送数据帧 SerialX->write(buf, 7); //发送数据帧
} }
@ -93,14 +94,14 @@ void Servo::SetActionGroupSpeed(uint8_t action_num, uint16_t speed)
* Return: 无返回 * Return: 无返回
* Others: * Others:
*********************************************************************************/ *********************************************************************************/
void Servo::SetAllActionGroupSpeed(uint16_t speed) void Servo::SetAllActionGroupSpeed(double speed)
{ {
SetActionGroupSpeed(0xFF, speed); //调用动作组速度设定，组号为0xFF时设置所有组的速度 SetActionGroupSpeed(0xFF, speed); //调用动作组速度设定，组号为0xFF时设置所有组的速度
} }
//恢复初始状态，指定速度 //恢复初始状态，指定速度
void Servo::Reset(uint16_t speed) void Servo::Reset(double speed)
{ {
SetActionGroupSpeed(ACTION_RESET_NUM, speed); SetActionGroupSpeed(ACTION_RESET_NUM, speed);
RunActionGroup(ACTION_RESET_NUM, 1); RunActionGroup(ACTION_RESET_NUM, 1);
@ -109,7 +110,7 @@ void Servo::Reset(uint16_t speed)
//抓取，指定速度 //抓取，指定速度
void Servo::Catch(uint16_t speed) void Servo::Catch(double speed)
{ {
SetActionGroupSpeed(ACTION_CATCH_NUM, speed); SetActionGroupSpeed(ACTION_CATCH_NUM, speed);
RunActionGroup(ACTION_CATCH_NUM, 1); RunActionGroup(ACTION_CATCH_NUM, 1);
@ -118,7 +119,7 @@ void Servo::Catch(uint16_t speed)
//释放，指定速度 //释放，指定速度
void Servo::Release(uint16_t speed) void Servo::Release(double speed)
{ {
SetActionGroupSpeed(ACTION_RELEASE_NUM, speed); SetActionGroupSpeed(ACTION_RELEASE_NUM, speed);
RunActionGroup(ACTION_RELEASE_NUM, 1); RunActionGroup(ACTION_RELEASE_NUM, 1);
@ -127,7 +128,7 @@ void Servo::Release(uint16_t speed)
//停止舵机并恢复初始状态，指定速度 //停止舵机并恢复初始状态，指定速度
void Servo::StopAndReset(uint16_t speed) void Servo::StopAndReset(double speed)
{ {
StopActionGroup(); StopActionGroup();
Reset(speed); Reset(speed);

14
TaiChi/servoTaiChi.h
View File

@ -22,7 +22,7 @@
//默认动作组速度 //默认动作组速度
#define SERVO_NORMAL_SPEED 100 #define SERVO_NORMAL_SPEED 1.0
class Servo class Servo
@ -33,13 +33,13 @@ public:
void RunActionGroup(uint8_t action_num, uint16_t times); void RunActionGroup(uint8_t action_num, uint16_t times);
void StopActionGroup(void); void StopActionGroup(void);
void SetActionGroupSpeed(uint8_t action_num, uint16_t speed); void SetActionGroupSpeed(uint8_t action_num, double speed);
void SetAllActionGroupSpeed(uint16_t speed); void SetAllActionGroupSpeed(double speed);
void Reset(uint16_t speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度 void Reset(double speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
void Catch(uint16_t speed = SERVO_NORMAL_SPEED); //抓取，指定速度 void Catch(double speed = SERVO_NORMAL_SPEED); //抓取，指定速度
void Release(uint16_t speed = SERVO_NORMAL_SPEED); //释放，指定速度 void Release(double speed = SERVO_NORMAL_SPEED); //释放，指定速度
void StopAndReset(uint16_t speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度 void StopAndReset(double speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
private: private:
HardwareSerial *SerialX; HardwareSerial *SerialX;