update

1 year ago · aebbdf0ca5
2 changed files with 15 additions and 12 deletions
--- a/api/apibasic/cmdid.hpp
+++ b/api/apibasic/cmdid.hpp
@ -76,6 +76,7 @@ typedef enum {
  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
--- 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                                                        *
   ***********************************************************************************************************************/