a8000_protocol/api/zi_xymotor.hpp

#pragma once
#include <stdint.h>

#include <functional>

#include "apibasic/basic.hpp"

namespace iflytop {
using namespace std;
class ZIXYMotor {
 public:
  virtual ~ZIXYMotor() {}
  virtual int32_t xymotor_enable(int32_t enable)           = 0;
  virtual int32_t xymotor_move_by(int32_t dx, int32_t dy)  = 0;
  virtual int32_t xymotor_move_to(int32_t x, int32_t y)    = 0;
  virtual int32_t xymotor_move_to_zero()                   = 0;
  virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) = 0;
  virtual int32_t xymotor_set_pos(int32_t x, int32_t y)    = 0;

  virtual int32_t xymotor_motor_move_by_direct(int32_t motor1_dpos, int32_t motor2_dpos) = 0;
  virtual int32_t xymotor_read_enc_direct(int32_t *enc1, int32_t *enc2)                  = 0;

  virtual int32_t xymotor_read_inio(int32_t ioindex, int32_t *val)                = 0;
  virtual int32_t xymotor_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) = 0;
};
}  // namespace iflytop