update

components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp

@@ -4,6 +4,8 @@
 #include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
 
+#include "sdk\components\zcancmder\cmd\cmd.hpp"
+
 namespace iflytop {
 class XYRobotCtrlModule {
  public:

components/zcancmder/cmd/cmd.hpp → components/zcancmder_2/cmd/cmd.hpp

@@ -203,6 +203,7 @@ ZPACKET_CMD_ACK(kcmd_readadc_raw,   //
 /*******************************************************************************
  *                            |Module_1006:XYRobot机器人控制模组                 *
  *******************************************************************************/
+// ACTION
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_enable,
                 CMD(u8 id; u8 enable;),  //
                 ACK(u8 id;));
@@ -225,15 +226,17 @@ ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by,
                            CMD(u8 id; s32 dx; s32 dy; s32 speed;),  //
                            ACK(u8 id;),                             //
                            REPORT(u8 id; u8 status; s32 dx; s32 dy;));
+// READ
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version,  //
                 CMD(u8 id;),                      //
-                ACK(u8 id;));
+                ACK(u8 id; u32 version;));
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status,  //
                 CMD(u8 id;),                     //
-                ACK(u8 id;));
+                ACK(u8 id; u8 status; s32 x; s32 y;));
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_debug_info,  //
                 CMD(u8 id;),                         //
-                ACK(u8 id;));
+                ACK(u8 id; u8 status; s32 x; s32 y;));
+// SET
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_param,  //
                 CMD(u8 id; u8 opt_type; u8 shaft; s32 distance_scale; s32 shift_x; s32 shift_y; s32 acc; s32 dec; s32 maxspeed; s32 min_x; s32 max_x; s32 min_y;
                     s32 max_y;),  //
@@ -483,7 +486,6 @@ ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_debug_info,
  *                           |Module_1016:移液枪控制                           *
  *******************************************************************************/
 
-
 ZPACKET_CMD_ACK(kcmd_pipette_module_motor_enable,
                 CMD(u8 id; u8 enable;),  //
                 ACK(u8 id;));