From e98d11132215467c4f9baf82e7bf869ad6ab9791 Mon Sep 17 00:00:00 2001
From: bmy <2583236812@qq.com>
Date: Fri, 14 Jun 2024 17:42:33 +0800
Subject: [PATCH] =?UTF-8?q?feat:=20=E5=A2=9E=E5=8A=A0=E8=BD=AC=E5=A1=94?=
 =?UTF-8?q?=E7=94=B5=E6=9C=BA=E6=8E=A5=E5=8F=A3?=
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---
 by_cmd.c | 19 +++++++++++++++++++
 by_cmd.h |  1 +
 2 files changed, 20 insertions(+)

diff --git a/by_cmd.c b/by_cmd.c
index 18c0c18..b6e9bb0 100644
--- a/by_cmd.c
+++ b/by_cmd.c
@@ -404,6 +404,25 @@ int by_cmd_send_angle_storage(float angle)
   return (ret);
 }
 
+/**
+ * @brief 设置转轴速度
+ *
+ * @param angle
+ * @return int
+ */
+int by_cmd_send_angle_zhuan(float angle)
+{
+  LOCKAPI();
+  log_info("send angle_zhuan angle:%.2f", angle);
+  int ret         = 0;
+  uint8_t buff[4] = {0};
+  memcpy(buff, &angle, 4);
+  by_frame_send(0x55, buff, 4);
+  ret = by_cmd_reg_listerning(0x55, 1000);
+  UNLOCKAPI();
+  return (ret);
+}
+
 int by_cmd_send_ranging_start(void)
 {
   LOCKAPI();
diff --git a/by_cmd.h b/by_cmd.h
index d865996..18a41a5 100644
--- a/by_cmd.h
+++ b/by_cmd.h
@@ -29,6 +29,7 @@ int by_cmd_send_angle_claw(float angle);
 int by_cmd_send_angle_camera(float angle);
 int by_cmd_send_angle_scoop(float angle);
 int by_cmd_send_angle_storage(float angle);
+int by_cmd_send_angle_zhuan(float angle);
 
 int by_cmd_send_ranging_start(void);
 int by_cmd_recv_ranging_data(float *distance);