From aebbdf0ca5fbacd1fba71798827fdd6f5c23da12 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 8 Jul 2024 14:56:33 +0800 Subject: [PATCH] update --- api/apibasic/cmdid.hpp | 25 +++++++++++++------------ api/zi_motor.hpp | 2 ++ 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp index b1efa0e..49ef1e3 100644 --- a/api/apibasic/cmdid.hpp +++ b/api/apibasic/cmdid.hpp @@ -64,18 +64,19 @@ typedef enum { * STEP_MOTOR * ***********************************************************************************************************************/ - kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{} - kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4} - kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{} - kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{} - kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{} - kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{} - kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{} - kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{} - kstep_motor_stop = CMDID(2, 40), // para:{4}, ack:{} - kstep_motor_active_cfg = CMDID(2, 41), // para:{4}, ack:{} - kstep_motor_read_io_state = CMDID(2, 42), // para:{4}, ack:{} - kstep_motor_easy_move_to_end_point = CMDID(2, 44), // + kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{} + kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4} + kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{} + kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{} + kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{} + kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{} + kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{} + kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{} + kstep_motor_stop = CMDID(2, 40), // para:{4}, ack:{} + kstep_motor_active_cfg = CMDID(2, 41), // para:{4}, ack:{} + kstep_motor_read_io_state = CMDID(2, 42), // para:{4}, ack:{} + kstep_motor_easy_move_to_end_point = CMDID(2, 44), // + kstep_motor_easy_reciprocating_motion = CMDID(2, 45), //(int32_t startpos, int32_t endpos, int32_t times) = 0; kstep_motor_read_tmc5130_status = CMDID(2, 50), // kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用 diff --git a/api/zi_motor.hpp b/api/zi_motor.hpp index c1a47de..8dad2fd 100644 --- a/api/zi_motor.hpp +++ b/api/zi_motor.hpp @@ -139,6 +139,8 @@ class ZIStepMotor { virtual int32_t step_motor_read_io_state(int32_t ioindex, int32_t* state) = 0; virtual int32_t step_motor_easy_move_to_end_point() = 0; + virtual int32_t step_motor_easy_reciprocating_motion(int32_t startpos, int32_t endpos, int32_t times) = 0; + /*********************************************************************************************************************** * DEBUG * ***********************************************************************************************************************/