project_boditech_vidas_a8000_v3
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a8000_subboard_sdk
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update protocol

master
zhaohe 2 years ago
parent
b76ed54543
commit
292bde2f92
1 changed files with 2 additions and 20 deletions
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  1. 22
      components/zcancmder/cmd/c1006_module_cmd.hpp

22
components/zcancmder/cmd/c1006_module_cmd.hpp
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@ -1,7 +1,7 @@
#pragma once
#include "basic_bean.hpp"
#include "sdk/os/zos.hpp"
#include <stdint.h>
#include "basic_bean.hpp"
namespace iflytop {
namespace zcr {
@ -18,22 +18,6 @@ ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero, cmd, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, cmd, uint8_t id; uint8_t _pad; int32_t x; int32_t y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to, cmd, uint8_t id; uint8_t _pad; int32_t x; int32_t y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_by, cmd, uint8_t id; uint8_t _pad; int32_t dx; int32_t dy;);
#if 0
kcmd_xy_robot_ctrl_read_status = CMDID(1006, 50), // 读取机器人状态
kcmd_xy_robot_ctrl_set_robottype = CMDID(1006, 100), // 机器人类型
kcmd_xy_robot_ctrl_set_current_pos = CMDID(1006, 101), // 设置当前位置
kcmd_xy_robot_ctrl_set_distance_scale = CMDID(1006, 102), // 设置距离比例
kcmd_xy_robot_ctrl_set_ihold_irun_iholddelay = CMDID(1006, 103), // 设置电流
kcmd_xy_robot_ctrl_set_acc = CMDID(1006, 104), // 设置加速度
kcmd_xy_robot_ctrl_set_dec = CMDID(1006, 105), // 设置减速度
kcmd_xy_robot_ctrl_set_speed = CMDID(1006, 106), // 设置位置模式速度
kcmd_xy_robot_ctrl_set_shaft = CMDID(1006, 107), // 设置轴是否反向
kcmd_xy_robot_ctrl_set_runtozero_max_distance = CMDID(1006, 108), // 设置回零最大距离
kcmd_xy_robot_ctrl_set_runtozero_speed = CMDID(1006, 109), // 设置回零速度
kcmd_xy_robot_ctrl_set_runtozero_dec = CMDID(1006, 110), // 设置回零减速度
kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance = CMDID(1006, 111), // 设置离零点距离
#endif
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_status, cmd, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_robottype, cmd, uint8_t id; uint8_t _pad; uint8_t zero_robottype;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_current_pos, cmd, uint8_t id; uint8_t _pad; int32_t x; int32_t y;);
@ -57,7 +41,6 @@ ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to_zero_with_calibrate, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_to, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_move_by, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_read_status, ack, uint8_t id; uint8_t module_statu; int32_t x; int32_t y;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_robottype, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_current_pos, ack, uint8_t id; uint8_t _pad;);
@ -72,7 +55,6 @@ ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_speed, ack, uint8_t id; uint8_t
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_dec, ack, uint8_t id; uint8_t _pad;);
ZPACKET_STRUCT(kcmd_xy_robot_ctrl_set_runtozero_leave_away_zero_distance, ack, uint8_t id; uint8_t _pad;);
/*******************************************************************************
* status_report *
*******************************************************************************/

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