From edf363ed2226ac4d8d672525b5a8ed4503d7a820 Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Tue, 4 Jun 2024 11:53:45 +0800
Subject: [PATCH] update mini servo protocol

---
 api/apibasic/cmdid.hpp     | 6 ++++--
 api/apibasic/errorcode.hpp | 6 ++----
 api/zi_mini_servo.hpp      | 5 +++--
 3 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/api/apibasic/cmdid.hpp b/api/apibasic/cmdid.hpp
index ca1f297..23c718f 100644
--- a/api/apibasic/cmdid.hpp
+++ b/api/apibasic/cmdid.hpp
@@ -80,11 +80,13 @@ typedef enum {
   kmini_servo_read_pos      = NEW_CMDID(102, 2),
   kmini_servo_active_cfg    = NEW_CMDID(102, 3),
   kmini_servo_stop          = NEW_CMDID(102, 4),
-  kmini_servo_rotate        = NEW_CMDID(102, 5),
-  kmini_servo_move_to       = NEW_CMDID(102, 6),
   kmini_servo_set_mid_point = NEW_CMDID(102, 7),
   kmini_servo_read_io_state = NEW_CMDID(102, 8),
 
+  kmini_servo_move_to            = NEW_CMDID(102, 9),
+  kmini_servo_rotate             = NEW_CMDID(102, 10),
+  kmini_servo_rotate_with_torque = NEW_CMDID(102, 11),
+
   /***********************************************************************************************************************
    *                                                        BOARD                                                        *
    ***********************************************************************************************************************/
diff --git a/api/apibasic/errorcode.hpp b/api/apibasic/errorcode.hpp
index 4cd967f..4e2f09b 100644
--- a/api/apibasic/errorcode.hpp
+++ b/api/apibasic/errorcode.hpp
@@ -118,10 +118,8 @@ typedef enum {
   /**
    * @brief mini servo error
    */
-  kmini_servo_not_enable = ERROR_CODE(700, 0),  // 未找到零点
-
-
-
+  kmini_servo_not_enable       = ERROR_CODE(700, 0),  //
+  kmini_servo_mode_not_support = ERROR_CODE(700, 1),  //
 
 } error_t;
 
diff --git a/api/zi_mini_servo.hpp b/api/zi_mini_servo.hpp
index 6a7834e..71bf5e9 100644
--- a/api/zi_mini_servo.hpp
+++ b/api/zi_mini_servo.hpp
@@ -16,8 +16,9 @@ class ZIMiniServo {
   virtual int32_t mini_servo_active_cfg()            = 0;
   virtual int32_t mini_servo_stop(int32_t breakstop) = 0;
 
-  virtual int32_t mini_servo_rotate(int32_t direction) = 0;
-  virtual int32_t mini_servo_move_to(int32_t position) = 0;
+  virtual int32_t mini_servo_move_to(int32_t pos3600)           = 0;  // 舵机模式
+  virtual int32_t mini_servo_rotate(int32_t speed)              = 0;  // 速度模式
+  virtual int32_t mini_servo_rotate_with_torque(int32_t torque) = 0;  // 扭矩模式
 
   virtual int32_t mini_servo_set_mid_point()                              = 0;
   virtual int32_t mini_servo_read_io_state(int32_t ioindex, int32_t* val) = 0;