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��������ָ��step_motor_setvelocity 1 2000step_motor_setvelocity 2 2000step_motor_setvelocity 3 2000step_motor_setvelocity 4 2000
step_motor_moveby 1 51200step_motor_moveby 2 51200step_motor_moveby 3 51200step_motor_moveby 4 40000
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stepmotor45_moveTo 1 512stepmotor45_moveTo 2 512stepmotor45_moveTo 3 512stepmotor45_moveTo 4 512stepmotor45_moveTo 5 512stepmotor45_moveTo 6 512
stepmotor45_moveBy 1 -25600
stepmotor45_moveBy 2 -25600stepmotor45_moveBy 3 -25600stepmotor45_moveBy 4 -25600
stepmotor45_moveBy 1 25600stepmotor45_moveBy 2 25600stepmotor45_moveBy 3 25600stepmotor45_moveBy 4 25600
step_motor_rotate 1 0 step_motor_rotate 2 0
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```eq20_enable (id,en)eq20_get_io_state (id)eq20_get_pos (id)eq20_get_servo_internal_state (id)eq20_move_by (id,pos,rpm,acctime)eq20_move_to (id,pos,rpm,acctime)eq20_move_to_zero_backward (id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)eq20_move_to_zero_forward (id,lookzeropoint_rpm,findzero_edge_rpm,lookzeropoint_acc_time)eq20_read_pn (id,pnadd)eq20_read_pn_bit (id,pnadd,off)eq20_read_reg (id,regadd)eq20_read_reg_bit (id,regadd,off)eq20_rotate (id,rpm,acctime)eq20_stop (id)eq20_write_pn (id,pnadd,value)eq20_write_pn_bit (id,pnadd,off,value)eq20_write_reg (id,regadd,value)eq20_write_reg_bit (id,regadd,off,value)
mini_servo_enable (id,en)mini_servo_get_basic_param (id)mini_servo_move_backward (id,torque)mini_servo_move_by (id,pos,speed,torque)mini_servo_move_forward (id,torque)mini_servo_move_to (id,pos,speed,torque)mini_servo_position_calibrate (id,pos)mini_servo_read_detailed_status (id)mini_servo_read_status (id)mini_servo_read_version (id)mini_servo_rotate (id,speed,torque,time)mini_servo_stop (id,stop_type)
sleep_ms (ms)
step_motor_45_get_default_speed (id)step_motor_45_get_pos (id)step_motor_45_get_zero_pin_state (id,pos)step_motor_45_is_reach_target_pos (id)step_motor_45_move_by (id,pos)step_motor_45_move_to (id,pos)step_motor_45_rotate (id,direction)step_motor_45_set_default_speed (id,speed)step_motor_45_set_pos (id,pos)step_motor_45_stop (id)step_motor_45_zero_calibration (id)step_motor_ctrl_enable (id,en)step_motor_ctrl_factory_reset (id)step_motor_ctrl_flush (id)step_motor_ctrl_force_change_current_pos (id,x)step_motor_ctrl_get_base_param (id)step_motor_ctrl_get_last_exec_status (id)step_motor_ctrl_get_logic_point (id,logic_point_id)step_motor_ctrl_is_busy (id)step_motor_ctrl_move_by (id,dx,speed)step_motor_ctrl_move_to (id,x,speed)step_motor_ctrl_move_to_logic_point (id,logic_point_id)step_motor_ctrl_move_to_zero (id)step_motor_ctrl_move_to_zero_with_calibrate (id,x)step_motor_ctrl_read_detailed_status (id)step_motor_ctrl_read_status (id)step_motor_ctrl_read_version (id)step_motor_ctrl_rotate (id,speed,lastforms)step_motor_ctrl_set_base_param (id,paramName,val)step_motor_ctrl_set_logic_point (id,logic_point_id,x,vel,acc,dec)step_motor_ctrl_set_logic_point_simplify (id,logic_point_id)step_motor_ctrl_stop (id,stop_type)
xy_robot_ctrl_enable (id,en)xy_robot_ctrl_factory_reset (id)xy_robot_ctrl_flush (id)xy_robot_ctrl_force_change_current_pos (id,x,y)xy_robot_ctrl_get_base_param (id)xy_robot_ctrl_move_by (id,dx,dy,v)xy_robot_ctrl_move_by_no_limit (id,dx,dy,v)xy_robot_ctrl_move_to (id,x,y,speed)xy_robot_ctrl_move_to_zero (id)xy_robot_ctrl_move_to_zero_with_calibrate (id,nowx,nowy)xy_robot_ctrl_read_detailed_status (id)xy_robot_ctrl_read_status (id)xy_robot_ctrl_read_version (id)xy_robot_ctrl_set_base_param (id,paramName,val)xy_robot_ctrl_stop (id,stop_type)```
```�ӵ�:bullet
����Bullet_case��оBullet_core����bullet_holder
```
```
```
```c m_cmdparse->regCMD("step_take_bullet", "()", 1, [this](PARAM) { return step_take_bullet(atoi(paraV[0])); }); m_cmdparse->regCMD("step_take_back_bullet", "()", 1, [this](PARAM) { return step_take_back_bullet(atoi(paraV[0])); }); m_cmdparse->regCMD("step_prepare_remove_line", "()", 1, [this](PARAM) { return step_prepare_remove_line(atoi(paraV[0])); }); m_cmdparse->regCMD("step_winding_prepare", "()", 0, [this](PARAM) { return step_winding_prepare(); }); m_cmdparse->regCMD("step_winding", "()", 0, [this](PARAM) { return step_winding(); }); m_cmdparse->regCMD("step_remove_line", "()", 0, [this](PARAM) { return step_remove_line(); }); m_cmdparse->regCMD("step_winding_lineend", "()", 0, [this](PARAM) { return step_winding_lineend(); }); m_cmdparse->regCMD("step_winding_take_bullet_from_cooking_to_origin_pos", "()", 1, [this](PARAM) { return step_winding_take_bullet_from_cooking_to_origin_pos(atoi(paraV[0])); });
```
```
step_take_bullet 1step_prepare_remove_line 1step_remove_linestep_winding_preparestep_windingstep_winding_lineend_prepare 1step_winding_lineendstep_winding_take_bullet_from_cooking_to_origin_pos 1
```
```�쳣���� 1. �Ƴ��߳�ʱ```
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