From f62a5bd178b7ec3948e5adb9db17e320b6d0fde9 Mon Sep 17 00:00:00 2001 From: zhaohe Date: Mon, 23 Oct 2023 20:11:30 +0800 Subject: [PATCH] update --- zmodule_device_manager.cpp | 2 +- zmodule_device_manager.hpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/zmodule_device_manager.cpp b/zmodule_device_manager.cpp index 364523e..4c75d1b 100644 --- a/zmodule_device_manager.cpp +++ b/zmodule_device_manager.cpp @@ -53,7 +53,7 @@ int32_t ZModuleDeviceManager::motor_enable(uint16_t id, int32_t enable) { PROXY_ int32_t ZModuleDeviceManager::motor_rotate(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_rotate, direction, motor_velocity, acc); } int32_t ZModuleDeviceManager::motor_move_by(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_by, distance, motor_velocity, acc); } int32_t ZModuleDeviceManager::motor_move_to(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acc) { PROXY_IMPL(ZIMotor, motor_move_to, position, motor_velocity, acc); } -int32_t ZModuleDeviceManager::motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque) { PROXY_IMPL(ZIMotor, motor_move_to_with_torque, pos, torque); } +int32_t ZModuleDeviceManager::motor_move_to_with_torque(uint16_t id, int32_t direction, int32_t torque) { PROXY_IMPL(ZIMotor, motor_move_to_with_torque, direction, torque); } int32_t ZModuleDeviceManager::motor_rotate_acctime(uint16_t id, int32_t direction, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_rotate_acctime, direction, motor_velocity, acctime); } int32_t ZModuleDeviceManager::motor_move_by_acctime(uint16_t id, int32_t distance, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_by_acctime, distance, motor_velocity, acctime); } int32_t ZModuleDeviceManager::motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime) { PROXY_IMPL(ZIMotor, motor_move_to_acctime, position, motor_velocity, acctime); } diff --git a/zmodule_device_manager.hpp b/zmodule_device_manager.hpp index 30cf258..c61885d 100644 --- a/zmodule_device_manager.hpp +++ b/zmodule_device_manager.hpp @@ -103,7 +103,7 @@ class ZModuleDeviceManager { int32_t motor_move_to_acctime(uint16_t id, int32_t position, int32_t motor_velocity, int32_t acctime); int32_t motor_move_to_zero_forward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime); int32_t motor_move_to_zero_backward(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime); - int32_t motor_move_to_with_torque(uint16_t id, int32_t pos, int32_t torque); + int32_t motor_move_to_with_torque(uint16_t id, int32_t direction, int32_t torque); int32_t motor_read_pos(uint16_t id, int32_t *pos); int32_t motor_set_current_pos_by_change_shift(uint16_t id, int32_t pos); int32_t motor_move_to_zero_forward_and_calculated_shift(uint16_t id, int32_t findzerospeed, int32_t findzeroedge_speed, int32_t acc, int32_t overtime);