From ea1fb6d3e263feffbbaf0d6fb69c482cc4d6d9bc Mon Sep 17 00:00:00 2001
From: zhaohe <h_zhaohe@163.com>
Date: Fri, 13 Oct 2023 14:51:57 +0800
Subject: [PATCH] update

---
 api/i_mini_servo_module.hpp | 73 ++++++++++++---------------------------------
 zcancmder_protocol.hpp      |  8 ++---
 2 files changed, 23 insertions(+), 58 deletions(-)

diff --git a/api/i_mini_servo_module.hpp b/api/i_mini_servo_module.hpp
index 9267984..a06cd10 100644
--- a/api/i_mini_servo_module.hpp
+++ b/api/i_mini_servo_module.hpp
@@ -12,32 +12,6 @@ class I_MiniServoModule {
  public:
   typedef enum { kNormalStop, kBreakStop } StopType_t;
 #pragma pack(1)
-#if 0
-  typedef struct {
-    s32  exec_status;
-    s32 has_run_time;
-  } rotate_cb_status_t;
-
-  typedef struct {
-    s32  exec_status;
-    s32 pos;
-  } move_to_cb_status_t;
-
-  typedef struct {
-    s32  exec_status;
-    s32 dpos;
-  } move_by_cb_status_t;
-
-  typedef struct {
-    s32  exec_status;
-    s32 has_run_time;
-  } run_with_torque_cb_status_t;
-
-  typedef struct {
-    s32  exec_status;
-    s32 pos;
-  } move_by_nolimit_cb_status_t;
-#endif
 
   /*******************************************************************************
    *                                    READ                                     *
@@ -47,16 +21,16 @@ class I_MiniServoModule {
   } version_t;
 
   typedef struct {
-    uint8_t status;    // 0:normal 1:运行中 2:offline 3:故障
-    uint8_t io_state;  //
-    int16_t torque;    //
-    int16_t speed;     //
-    int16_t pos;       //
+    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 io_state;
+    uint8_t ioState;
     int16_t torque;
     int16_t speed;
     int16_t pos;
@@ -64,7 +38,6 @@ class I_MiniServoModule {
     int16_t current;
     int16_t temperature;
     int16_t error_flag;
-
   } detailed_status_t;
 
   /*******************************************************************************
@@ -72,23 +45,16 @@ class I_MiniServoModule {
    *******************************************************************************/
 
   typedef struct {
-    s16 pos_calibrate;
+    u16 posCalibrate;
+    u16 minlimit;
+    u16 maxlimit;
+    u16 maxtemp;
+    u16 minvoltage;
+    u16 maxvoltage;
+    u16 protectCurrent;
+    u16 protectTorque;
   } basic_param_t;
 
-  typedef struct {
-    s16 minlimit;
-    s16 maxlimit;
-  } run_param_t;
-
-  typedef struct {
-    s16 mintemp;
-    s16 maxtemp;
-    s16 minvoltage;
-    s16 maxvoltage;
-    s16 mincurrent;
-    s16 maxcurrent;
-  } warning_limit_param_t;
-
 #pragma pack()
 
  public:
@@ -102,17 +68,16 @@ class I_MiniServoModule {
   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_run_param(run_param_t& param)                     = 0;
-  virtual int32_t set_basic_param(basic_param_t& param)                 = 0;
-  virtual int32_t set_warning_limit_param(warning_limit_param_t& param) = 0;
+  virtual int32_t set_basic_param(basic_param_t& param) = 0;
 
-  virtual int32_t get_run_param(run_param_t& param)                     = 0;
-  virtual int32_t get_basic_param(basic_param_t& param)                 = 0;
-  virtual int32_t get_warning_limit_param(warning_limit_param_t& param) = 0;
+  virtual int32_t get_basic_param(basic_param_t& param) = 0;
 
   virtual ~I_MiniServoModule() {}
 };
diff --git a/zcancmder_protocol.hpp b/zcancmder_protocol.hpp
index b5ecbe7..23836f6 100644
--- a/zcancmder_protocol.hpp
+++ b/zcancmder_protocol.hpp
@@ -269,13 +269,13 @@ ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_version, CMD(u16 id;), ACK(I_MiniServo
 ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_status, CMD(u16 id;), ACK(I_MiniServoModule::status_t ack;));
 ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_read_detailed_status, CMD(u16 id;), ACK(I_MiniServoModule::detailed_status_t ack;));
 
-ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_run_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::run_param_t param;), ACK(I_MiniServoModule::run_param_t ack;));
+
 ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_basic_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::basic_param_t param;), ACK(I_MiniServoModule::basic_param_t ack;));
-ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_set_warning_limit_param, CMD(u16 id; u8 opt_type; I_MiniServoModule::warning_limit_param_t param;), ACK(I_MiniServoModule::warning_limit_param_t ack;));
 
-ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_run_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::run_param_t ack;));
+
+
 ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_basic_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::basic_param_t ack;));
-ZPACKET_CMD_ACK(kcmd_mini_servo_ctrl_get_warning_limit_param, CMD(u16 id; u8 opt_type;), ACK(I_MiniServoModule::warning_limit_param_t ack;));
+
 
 /*******************************************************************************
  *                             |Module_1009:EEPROM                             *