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#pragma once
#include "api/api.hpp"
namespace iflytop {namespace zcr {typedef enum { kmodule_stop = CMDID(1, 1), // para:{}, ack:{}
kmodule_break = CMDID(1, 2), // para:{}, ack:{}
kmodule_get_last_exec_status = CMDID(1, 3), // para:{}, ack:{4}
kmodule_get_status = CMDID(1, 4), // para:{}, ack:{4}
kmodule_set_param = CMDID(1, 5), // para:{4,4}, ack:{}
kmodule_get_param = CMDID(1, 6), // para:{4}, ack:{4}I
kmodule_readio = CMDID(1, 7), // para:{}, ack:{4}
kmodule_writeio = CMDID(1, 8), // para:{4}, ack:{}
kmodule_read_adc = CMDID(1, 9), // para:{4}, ack:{4}
kmodule_get_error = CMDID(1, 10), // para:{}, ack:{1}
kmodule_clear_error = CMDID(1, 11), // para:{}, ack:{}
kmodule_set_inited_flag = CMDID(1, 12), // para:{4}, ack:{}
kmodule_get_inited_flag = CMDID(1, 13), // para:{}, ack:{4}
kmotor_enable = CMDID(2, 1), // para:{1}, ack:{}
kmotor_rotate = CMDID(2, 2), // para:{1,4}, ack:{}
kmotor_move_by = CMDID(2, 3), // para:{4,4}, ack:{}
kmotor_move_to = CMDID(2, 4), // para:{4,4}, ack:{}
kmotor_rotate_acctime = CMDID(2, 5), // para:{4,4}, ack:{}
kmotor_move_by_acctime = CMDID(2, 6), // para:{4,4}, ack:{}
kmotor_move_to_acctime = CMDID(2, 7), // para:{4,4}, ack:{}
kmotor_move_to_with_torque = CMDID(2, 8), // para:{4,4}, ack:{}
kmotor_move_to_zero_forward = CMDID(2, 9), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_move_to_zero_backward = CMDID(2, 10), // para:{4,4,4,4}, ack:{} //int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime
kmotor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
kmotor_set_current_pos_by_change_shift = CMDID(2, 12), // para:{4}, ack:{}
kxymotor_enable = CMDID(3, 1), // para:{1}, ack:{}
kxymotor_move_by = CMDID(3, 2), // para:{4,4,4}, ack:{}
kxymotor_move_to = CMDID(3, 3), // para:{4,4,4}, ack:{}
} cmdid_t;
} // namespace zcr
} // namespace iflytop
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