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update

master
zhaohe 2 years ago
parent
2393d97dec
commit
574a1111a3
3 changed files with 6 additions and 6 deletions
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  1. 8
      api/i_mini_servo_module.hpp
  2. 2
      api/i_step_motor_ctrl_module.hpp
  3. 2
      api/i_xyrobot_ctrl_module.hpp

8
api/i_mini_servo_module.hpp
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@ -99,15 +99,15 @@ class I_MiniServoModule {
virtual int32_t stop(u8 stop_type) = 0; virtual int32_t stop(u8 stop_type) = 0;
virtual int32_t position_calibrate(s32 calibrate_pos) = 0; virtual int32_t position_calibrate(s32 calibrate_pos) = 0;
virtual int32_t rotate(s32 speed, s32 run_time, function<void(rotate_cb_status_t& status)> status_cb) = 0;
virtual int32_t rotate(s32 speed, s32 torque, s32 run_time, function<void(rotate_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_to(s32 pos, s32 speed, s32 torque, function<void(move_to_cb_status_t& status)> status_cb) = 0; virtual int32_t move_to(s32 pos, s32 speed, s32 torque, function<void(move_to_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_by(s32 pos, s32 speed, s32 torque, function<void(move_by_cb_status_t& status)> status_cb) = 0; virtual int32_t move_by(s32 pos, s32 speed, s32 torque, function<void(move_by_cb_status_t& status)> status_cb) = 0;
virtual int32_t run_with_torque(s32 torque, s32 run_time, function<void(run_with_torque_cb_status_t& status)> status_cb) = 0; virtual int32_t run_with_torque(s32 torque, s32 run_time, function<void(run_with_torque_cb_status_t& status)> status_cb) = 0;
virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, function<void(move_by_nolimit_cb_status_t& status)> status_cb) = 0; virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, function<void(move_by_nolimit_cb_status_t& status)> 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_run_param(run_param_t& param) = 0;
virtual int32_t set_basic_param(basic_param_t& param) = 0; virtual int32_t set_basic_param(basic_param_t& param) = 0;

2
api/i_step_motor_ctrl_module.hpp
View File

@ -102,7 +102,7 @@ class I_StepMotorCtrlModule {
virtual int32_t read_version(version_t& version) = 0; virtual int32_t read_version(version_t& version) = 0;
virtual int32_t read_status(status_t& status) = 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_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; 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;

2
api/i_xyrobot_ctrl_module.hpp
View File

@ -107,7 +107,7 @@ class I_XYRobotCtrlModule {
virtual int32_t read_version(version_t& version) = 0; virtual int32_t read_version(version_t& version) = 0;
virtual int32_t read_status(status_t& status) = 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_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; 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;

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