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26 lines
956 B
26 lines
956 B
#pragma once
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#include <stdint.h>
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#include <functional>
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#include "apibasic/basic.hpp"
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namespace iflytop {
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using namespace std;
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class ZIXYMotor {
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public:
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virtual ~ZIXYMotor() {}
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virtual int32_t xymotor_enable(int32_t enable) = 0;
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virtual int32_t xymotor_move_by(int32_t dx, int32_t dy) = 0;
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virtual int32_t xymotor_move_to(int32_t x, int32_t y) = 0;
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virtual int32_t xymotor_move_to_zero() = 0;
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virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) = 0;
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virtual int32_t xymotor_set_pos(int32_t x, int32_t y) = 0;
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virtual int32_t xymotor_motor_move_by_direct(int32_t motor1_dpos, int32_t motor2_dpos) = 0;
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virtual int32_t xymotor_read_enc_direct(int32_t *enc1, int32_t *enc2) = 0;
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virtual int32_t xymotor_read_inio(int32_t ioindex, int32_t *val) = 0;
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virtual int32_t xymotor_read_inio_index_in_stm32(int32_t ioindex, int32_t *val) = 0;
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};
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} // namespace iflytop
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