WIP: snapshot before repo migration

jxbeye/lib/FTServo/src/SMS_STS.h

@@ -0,0 +1,86 @@
+/*
+ * SMS_STS.h
+ * 飞特SMS/STS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#ifndef _SMS_STS_H
+#define _SMS_STS_H
+
+//内存表定义
+//-------EPROM(只读)--------
+#define SMS_STS_MODEL_L 3
+#define SMS_STS_MODEL_H 4
+
+//-------EPROM(读写)--------
+#define SMS_STS_ID 5
+#define SMS_STS_BAUD_RATE 6
+#define SMS_STS_MIN_ANGLE_LIMIT_L 9
+#define SMS_STS_MIN_ANGLE_LIMIT_H 10
+#define SMS_STS_MAX_ANGLE_LIMIT_L 11
+#define SMS_STS_MAX_ANGLE_LIMIT_H 12
+#define SMS_STS_CW_DEAD 26
+#define SMS_STS_CCW_DEAD 27
+#define SMS_STS_OFS_L 31
+#define SMS_STS_OFS_H 32
+#define SMS_STS_MODE 33
+
+//-------SRAM(读写)--------
+#define SMS_STS_TORQUE_ENABLE 40
+#define SMS_STS_ACC 41
+#define SMS_STS_GOAL_POSITION_L 42
+#define SMS_STS_GOAL_POSITION_H 43
+#define SMS_STS_GOAL_TIME_L 44
+#define SMS_STS_GOAL_TIME_H 45
+#define SMS_STS_GOAL_SPEED_L 46
+#define SMS_STS_GOAL_SPEED_H 47
+#define SMS_STS_TORQUE_LIMIT_L 48
+#define SMS_STS_TORQUE_LIMIT_H 49
+#define SMS_STS_LOCK 55
+
+//-------SRAM(只读)--------
+#define SMS_STS_PRESENT_POSITION_L 56
+#define SMS_STS_PRESENT_POSITION_H 57
+#define SMS_STS_PRESENT_SPEED_L 58
+#define SMS_STS_PRESENT_SPEED_H 59
+#define SMS_STS_PRESENT_LOAD_L 60
+#define SMS_STS_PRESENT_LOAD_H 61
+#define SMS_STS_PRESENT_VOLTAGE 62
+#define SMS_STS_PRESENT_TEMPERATURE 63
+#define SMS_STS_MOVING 66
+#define SMS_STS_PRESENT_CURRENT_L 69
+#define SMS_STS_PRESENT_CURRENT_H 70
+
+#include "SCSerial.h"
+
+class SMS_STS : public SCSerial
+{
+public:
+	SMS_STS();
+	SMS_STS(u8 End);
+	SMS_STS(u8 End, u8 Level);
+	int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0);//普通写单个舵机位置指令
+	int RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0);//异步写单个舵机位置指令(RegWriteAction生效)
+	void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[]);//同步写多个舵机位置指令
+	void SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[]);//同步写多个舵机速度指令
+	int ServoMode(u8 ID);//Servo模式
+	int WheelMode(u8 ID);//恒速模式
+	int WriteSpe(u8 ID, s16 Speed, u8 ACC = 0);//恒速模式控制指令
+	int EnableTorque(u8 ID, u8 Enable);//扭力控制指令
+	int unLockEprom(u8 ID);//eprom解锁
+	int LockEprom(u8 ID);//eprom加锁
+	int CalibrationOfs(u8 ID);//中位校准
+	int FeedBack(int ID);//反馈舵机信息
+	int ReadPos(int ID);//读位置
+	int ReadSpeed(int ID);//读速度
+	int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
+	int ReadVoltage(int ID);//读电压
+	int ReadTemper(int ID);//读温度
+	int ReadMove(int ID);//读移动状态
+	int ReadCurrent(int ID);//读电流
+private:
+	u8 Mem[SMS_STS_PRESENT_CURRENT_H-SMS_STS_PRESENT_POSITION_L+1];
+};
+
+#endif