update

api/temp_i_mini_servo_module.hpp

@@ -1,84 +0,0 @@
-#pragma once
-#include <stdint.h>
-
-#include <functional>
-
-#include "basic_type.hpp"
-//
-
-namespace iflytop {
-using namespace std;
-class I_MiniServoModule {
- public:
-  typedef enum { kNormalStop, kBreakStop } StopType_t;
-#pragma pack(1)
-
-  /*******************************************************************************
-   *                                    READ                                     *
-   *******************************************************************************/
-  typedef struct {
-    int32_t version;
-  } version_t;
-
-  typedef struct {
-    uint8_t status;   // 0:normal 1:运行中 2:offline 3:故障
-    uint8_t ioState;  //
-    int16_t torque;   //
-    int16_t speed;    //
-    int16_t pos;      //
-  } status_t;
-
-  typedef struct {
-    uint8_t status;
-    uint8_t ioState;
-    int16_t torque;
-    int16_t speed;
-    int16_t pos;
-    int16_t voltage;
-    int16_t current;
-    int16_t temperature;
-    int16_t error_flag;
-  } detailed_status_t;
-
-  /*******************************************************************************
-   *                                     CFG                                     *
-   *******************************************************************************/
-
-  typedef struct {
-    u16 posCalibrate;
-    u16 minlimit;
-    u16 maxlimit;
-    u16 maxtemp;
-    u16 minvoltage;
-    u16 maxvoltage;
-    u16 protectCurrent;
-    u16 protectTorque;
-  } basic_param_t;
-
-#pragma pack()
-
- public:
-  // virtual int32_t enable(u8 enable)                     = 0;
-  // virtual int32_t stop(u8 stop_type)                    = 0;
-  // virtual int32_t position_calibrate(s32 calibrate_pos) = 0;
-
-  // virtual int32_t rotate(s32 speed, s32 torque, s32 run_time, action_cb_status_t status_cb)     = 0;
-  // virtual int32_t move_to(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb)         = 0;
-  // virtual int32_t move_by(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb)         = 0;
-  // virtual int32_t run_with_torque(s32 torque, s32 run_time, action_cb_status_t status_cb)       = 0;
-  // virtual int32_t move_by_nolimit(s32 pos, s32 speed, s32 torque, action_cb_status_t status_cb) = 0;
-
-  // virtual int32_t move_forward(s32 torque)  = 0;
-  // virtual int32_t move_backward(s32 torque) = 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_basic_param(basic_param_t& param) = 0;
-
-  // virtual int32_t get_basic_param(basic_param_t& param) = 0;
-
-  virtual ~I_MiniServoModule() {}
-};
-}  // namespace iflytop