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30 lines
532 B
30 lines
532 B
#pragma once
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#include <stdint.h>
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#include <stdio.h>
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#define servo_amount 5
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typedef struct{
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uint8_t addr;
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uint8_t data_len;
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uint8_t special_bit;
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uint8_t sign_ed;
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}reg_info_t;
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// ¶æ»ú¶ÔÏó
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typedef struct {
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uint8_t id;
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reg_info_t reg_info;
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uint8_t cmd;
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} servo_obj_t;
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enum {
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STS_small_L = 0,
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STS_small_M,
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STS_small_R,//right
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STS_large_R,//Roll
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STS_large_Y,
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};
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void servo_drive_single(uint8_t id, uint8_t addr, uint8_t cmd, int16_t *param_data, uint8_t param_count);
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servo_obj_t* Get_Servo(uint8_t servo_id);
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