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@ -64,18 +64,19 @@ typedef enum { |
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* STEP_MOTOR * |
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* STEP_MOTOR * |
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***********************************************************************************************************************/ |
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***********************************************************************************************************************/ |
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kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{}
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kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
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kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{}
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kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{}
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kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{}
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kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{}
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kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{}
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kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{}
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kstep_motor_stop = CMDID(2, 40), // para:{4}, ack:{}
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kstep_motor_active_cfg = CMDID(2, 41), // para:{4}, ack:{}
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kstep_motor_read_io_state = CMDID(2, 42), // para:{4}, ack:{}
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kstep_motor_easy_move_to_end_point = CMDID(2, 44), //
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kstep_motor_enable = CMDID(2, 1), // para:{1}, ack:{}
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kstep_motor_read_pos = CMDID(2, 11), // para:{}, ack:{4}
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kstep_motor_easy_rotate = CMDID(2, 17), // para:{4}, ack:{}
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kstep_motor_easy_move_by = CMDID(2, 18), // para:{4}, ack:{}
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kstep_motor_easy_move_to = CMDID(2, 19), // para:{4}, ack:{}
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kstep_motor_easy_move_to_zero = CMDID(2, 20), // para:{1}, ack:{}
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kstep_motor_easy_set_current_pos = CMDID(2, 21), // para:{4}, ack:{}
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kstep_motor_easy_move_to_io = CMDID(2, 22), // para:{4,4}, ack:{}
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kstep_motor_stop = CMDID(2, 40), // para:{4}, ack:{}
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kstep_motor_active_cfg = CMDID(2, 41), // para:{4}, ack:{}
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kstep_motor_read_io_state = CMDID(2, 42), // para:{4}, ack:{}
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kstep_motor_easy_move_to_end_point = CMDID(2, 44), //
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kstep_motor_easy_reciprocating_motion = CMDID(2, 45), //(int32_t startpos, int32_t endpos, int32_t times) = 0;
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kstep_motor_read_tmc5130_status = CMDID(2, 50), //
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kstep_motor_read_tmc5130_status = CMDID(2, 50), //
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kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用
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kstep_motor_read_tmc5130_state = CMDID(2, 51), // 调试使用
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