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28 lines
968 B
28 lines
968 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 ZIMiniServo {
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public:
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virtual ~ZIMiniServo() {}
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virtual int32_t mini_servo_enable(int32_t enable) = 0;
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virtual int32_t mini_servo_read_pos(int32_t* pos) = 0;
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virtual int32_t mini_servo_active_cfg() = 0;
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virtual int32_t mini_servo_stop(int32_t breakstop) = 0;
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virtual int32_t mini_servo_move_to(int32_t pos3600) = 0; // 舵机模式
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virtual int32_t mini_servo_rotate(int32_t speed) = 0; // 速度模式
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virtual int32_t mini_servo_rotate_with_torque(int32_t torque) = 0; // 扭矩模式
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virtual int32_t mini_servo_set_mid_point() = 0;
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virtual int32_t mini_servo_read_io_state(int32_t ioindex, int32_t* val) = 0;
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virtual int32_t mini_servo_set_cur_pos(int32_t pos) = 0; // 设置当前位置
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};
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} // namespace iflytop
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