From 59082bcc8c2a856133f693619bbd1fdc64dba0fd Mon Sep 17 00:00:00 2001 From: zhaohe Date: Wed, 26 Jun 2024 18:13:49 +0800 Subject: [PATCH] update --- api/apibasic/cmdid.cpp | 3 ++- api/apibasic/cmdid.hpp | 2 ++ api/zi_xymotor.hpp | 3 +++ 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/api/apibasic/cmdid.cpp b/api/apibasic/cmdid.cpp index 84980a8..eae8b6c 100644 --- a/api/apibasic/cmdid.cpp +++ b/api/apibasic/cmdid.cpp @@ -29,7 +29,8 @@ static cmdinfo_t table[] = { CMD_ITERM(kxymotor_read_inio_index_in_stm32), CMD_ITERM(kxymotor_read_inio), CMD_ITERM(kxymotor_set_pos), - + CMD_ITERM(kxymotor_motor_move_by_direct), + CMD_ITERM(kxymotor_read_enc_direct), CMD_ITERM(kpipette_ctrl_init_device), CMD_ITERM(kpipette_ctrl_put_tip), diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index d02d04f..3dbdb80 100644 --- a/api/apibasic/cmdid.hpp +++ b/api/apibasic/cmdid.hpp @@ -34,6 +34,8 @@ typedef enum { kxymotor_read_inio_index_in_stm32 = CMDID(3, 7), kxymotor_read_inio = CMDID(3, 8), kxymotor_set_pos = CMDID(3, 9), + kxymotor_motor_move_by_direct = CMDID(3, 10), // int32_t motor1_dpos, int32_t motor2_dpos + kxymotor_read_enc_direct = CMDID(3, 11), // int32_t *enc1, int32_t *enc2 /*********************************************************************************************************************** * 光学模组 * diff --git a/api/zi_xymotor.hpp b/api/zi_xymotor.hpp index a7776f3..963bf9e 100644 --- a/api/zi_xymotor.hpp +++ b/api/zi_xymotor.hpp @@ -17,6 +17,9 @@ class ZIXYMotor { 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; };