StopPointTeam/TaiChi
3
0
Fork 1
Code Issues Pull Requests Projects Releases Wiki Activity

更新舵机库，增加抬升动作

Browse Source
This commit is contained in:
lxbpxylps@126.com 2021-03-16 09:05:20 +08:00
parent 0e3a5104d2
commit d641270807
2 changed files with 10 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
TaiChi/servoTaiChi.cpp
View File

@ -182,6 +182,14 @@ void Servo::GainCatch(float speed = SERVO_NORMAL_SPEED)
} }
//增益点抬升，指定速度
void Servo::GainUp(float speed)
{
SetActionGroupSpeed(ACTION_GAINUP_NUM, speed);
RunActionGroup(ACTION_GAINUP_NUM, 1);
}
//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(float speed) void Servo::StopAndReset(float speed)
{ {

2
TaiChi/servoTaiChi.h
View File

@ -41,6 +41,7 @@
#define ACTION_RELEASE_NUM 102 #define ACTION_RELEASE_NUM 102
#define ACTION_GAINDOWN_NUM 103 #define ACTION_GAINDOWN_NUM 103
#define ACTION_GAINCATCH_NUM 104 #define ACTION_GAINCATCH_NUM 104
#define ACTION_GAINUP_NUM 105
//默认动作组速度 //默认动作组速度
@ -68,6 +69,7 @@ public:
void Release(float speed = SERVO_NORMAL_SPEED); //释放，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 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 GainCatch(float speed = SERVO_NORMAL_SPEED); //增益点抓取，指定速度
void GainUp(float speed = SERVO_NORMAL_SPEED); //增益点抬升，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 void StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
private: private: