From 574a1111a353c063ae040a4e43ae06ee28909468 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Sat, 30 Sep 2023 19:38:04 +0800 Subject: [PATCH] update --- api/i_mini_servo_module.hpp | 8 ++++---- api/i_step_motor_ctrl_module.hpp | 2 +- api/i_xyrobot_ctrl_module.hpp | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/api/i_mini_servo_module.hpp b/api/i_mini_servo_module.hpp index 9b23ff1..6c6ce61 100644 --- a/api/i_mini_servo_module.hpp +++ b/api/i_mini_servo_module.hpp @@ -99,15 +99,15 @@ class I_MiniServoModule { virtual int32_t stop(u8 stop_type) = 0; virtual int32_t position_calibrate(s32 calibrate_pos) = 0; - virtual int32_t rotate(s32 speed, s32 run_time, function status_cb) = 0; + virtual int32_t rotate(s32 speed, s32 torque, s32 run_time, function status_cb) = 0; virtual int32_t move_to(s32 pos, s32 speed, s32 torque, function status_cb) = 0; virtual int32_t move_by(s32 pos, s32 speed, s32 torque, function status_cb) = 0; virtual int32_t run_with_torque(s32 torque, s32 run_time, function status_cb) = 0; virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, function status_cb) = 0; - virtual int32_t read_version(version_t& version) = 0; - virtual int32_t read_status(status_t& status) = 0; - virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0; + virtual int32_t read_version(version_t& version) = 0; + virtual int32_t read_status(status_t& status) = 0; + virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0; virtual int32_t set_run_param(run_param_t& param) = 0; virtual int32_t set_basic_param(basic_param_t& param) = 0; diff --git a/api/i_step_motor_ctrl_module.hpp b/api/i_step_motor_ctrl_module.hpp index 3ddc71c..aa8ed7f 100644 --- a/api/i_step_motor_ctrl_module.hpp +++ b/api/i_step_motor_ctrl_module.hpp @@ -102,7 +102,7 @@ class I_StepMotorCtrlModule { virtual int32_t read_version(version_t& version) = 0; virtual int32_t read_status(status_t& status) = 0; - virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0; + virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0; virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_param_t& ack) = 0; virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack) = 0; diff --git a/api/i_xyrobot_ctrl_module.hpp b/api/i_xyrobot_ctrl_module.hpp index 890383a..fe2cfb6 100644 --- a/api/i_xyrobot_ctrl_module.hpp +++ b/api/i_xyrobot_ctrl_module.hpp @@ -107,7 +107,7 @@ class I_XYRobotCtrlModule { virtual int32_t read_version(version_t& version) = 0; virtual int32_t read_status(status_t& status) = 0; - virtual int32_t read_debug_info(detailed_status_t& debug_info) = 0; + virtual int32_t read_detailed_status(detailed_status_t& debug_info) = 0; virtual int32_t set_run_param(uint8_t operation, const run_param_t& param, run_param_t& ack) = 0; virtual int32_t set_run_to_zero_param(uint8_t operation, const run_to_zero_param_t& param, run_to_zero_param_t& ack) = 0;