update

components/xy_robot_ctrl_module/xy_robot_ctrl_module.hpp

@@ -4,6 +4,8 @@
 #include "sdk\components\tmc\basic\tmc_ic_interface.hpp"
 #include "sdk\components\zcancmder\zcanreceiver.hpp"
 
+#include "sdk\components\zcancmder\cmd\cmd.hpp"
+
 namespace iflytop {
 class XYRobotCtrlModule {
  public:
@@ -55,7 +57,7 @@ class XYRobotCtrlModule {
   int32_t set_dec(int32_t dec);
   int32_t set_speed(int32_t speed);
   int32_t set_zero_robottype(RobotType_t robot_type);
-  int32_t set_shaft(bool x_shaft, bool y_shaft) ;
+  int32_t set_shaft(bool x_shaft, bool y_shaft);
   int32_t set_zero_shift(int32_t x, int32_t y);
   int32_t set_runtozero_max_distance(int32_t maxX, int32_t maxY);
   int32_t set_runtozero_speed(int32_t speed);

components/zcancmder/cmd/cmd.hpp → components/zcancmder_2/cmd/cmd.hpp

@@ -166,11 +166,11 @@ typedef enum {
   kcmd_pipette_module_z_motor_move_to_zero                = CMDID(1016, 2),  // 归零
   kcmd_pipette_module_z_motor_move_to_zero_with_calibrate = CMDID(1016, 3),  // 归零并校准
   kcmd_pipette_module_z_motor_stop                        = CMDID(1016, 4),  // 停止
-  
-  kcmd_pipette_module_take_liquid                        = CMDID(1016, 4),  // 取液体
-  kcmd_pipette_module_split_liquid                       = CMDID(1016, 5),  // 吐液体
-  kcmd_pipette_module_take_tip                           = CMDID(1016, 6),  // 取tip
-  kcmd_pipette_module_remove_tip                         = CMDID(1016, 7),  // 移除tip
+
+  kcmd_pipette_module_take_liquid  = CMDID(1016, 4),  // 取液体
+  kcmd_pipette_module_split_liquid = CMDID(1016, 5),  // 吐液体
+  kcmd_pipette_module_take_tip     = CMDID(1016, 6),  // 取tip
+  kcmd_pipette_module_remove_tip   = CMDID(1016, 7),  // 移除tip
 
   kcmd_pipette_module_read_version    = CMDID(1016, 50),  // 读取模块型号版本信息
   kcmd_pipette_module_read_status     = CMDID(1016, 51),  // 读取模块精简状态信息
@@ -203,6 +203,7 @@ ZPACKET_CMD_ACK(kcmd_readadc_raw,   //
 /*******************************************************************************
  *                            |Module_1006:XYRobot机器人控制模组                 *
  *******************************************************************************/
+// ACTION
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_enable,
                 CMD(u8 id; u8 enable;),  //
                 ACK(u8 id;));
@@ -225,15 +226,17 @@ ZPACKET_CMD_ACK_AND_REPORT(kcmd_xy_robot_ctrl_move_by,
                            CMD(u8 id; s32 dx; s32 dy; s32 speed;),  //
                            ACK(u8 id;),                             //
                            REPORT(u8 id; u8 status; s32 dx; s32 dy;));
+// READ
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_version,  //
                 CMD(u8 id;),                      //
-                ACK(u8 id;));
+                ACK(u8 id; u32 version;));
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_status,  //
                 CMD(u8 id;),                     //
-                ACK(u8 id;));
+                ACK(u8 id; u8 status; s32 x; s32 y;));
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_read_debug_info,  //
                 CMD(u8 id;),                         //
-                ACK(u8 id;));
+                ACK(u8 id; u8 status; s32 x; s32 y;));
+// SET
 ZPACKET_CMD_ACK(kcmd_xy_robot_ctrl_set_run_param,  //
                 CMD(u8 id; u8 opt_type; u8 shaft; s32 distance_scale; s32 shift_x; s32 shift_y; s32 acc; s32 dec; s32 maxspeed; s32 min_x; s32 max_x; s32 min_y;
                     s32 max_y;),  //
@@ -483,7 +486,6 @@ ZPACKET_CMD_ACK(kcmd_fan_module_fan_read_debug_info,
  *                           |Module_1016:移液枪控制                           *
  *******************************************************************************/
 
-
 ZPACKET_CMD_ACK(kcmd_pipette_module_motor_enable,
                 CMD(u8 id; u8 enable;),  //
                 ACK(u8 id;));