增加生成动态库配置

.vscode/settings.json

@@ -6,5 +6,6 @@
         "by_serial.h": "c",
         "log.h": "c",
         "termios.h": "c"
-    }
+    },
+    "cmake.configureOnOpen": true
 }

CMakeLists.txt

@@ -15,6 +15,7 @@ set(LOGC logc/log.c)
 # add_library(bycmd ${BYCMD} ${FRAME} ${CRC16})
 # add_executable(${test} ${TEST_MAIN} ${FRAME})
 add_executable(bycmd_test ${BYCMD} ${TOML} ${CRC16} ${LOGC} ${TEST_MAIN})
+add_library(bycmd SHARED ${BYCMD} ${TOML} ${CRC16} ${LOGC})
 
 target_link_libraries(bycmd_test pthread)
 # target_link_libraries(${test} bycmd)

by_cmd.c

@@ -79,7 +79,6 @@ void by_cmd_send_speed_x(float speed)
 {
   uint8_t buff[4] = {0};
   memcpy(buff, &speed, 4);
-
   by_frame_send(0x31, buff, 4);
 }
 
@@ -92,7 +91,6 @@ void by_cmd_send_speed_y(float speed)
 {
   uint8_t buff[4] = {0};
   memcpy(buff, &speed, 4);
-
   by_frame_send(0x32, buff, 4);
 }
 
@@ -105,7 +103,6 @@ void by_cmd_send_speed_omega(float speed)
 {
   uint8_t buff[4] = {0};
   memcpy(buff, &speed, 4);
-
   by_frame_send(0x33, buff, 4);
 }
 
@@ -181,42 +178,76 @@ int by_cmd_send_reset_end_effector(void)
   return (by_cmd_reg_listerning(0x43, 1000));
 }
 
+/**
+ * @brief 设置 x 轴增量位置
+ *
+ * @param speed
+ * @param distance
+ * @return int
+ */
 int by_cmd_send_distance_axis_x(uint8_t speed, float distance)
 {
   uint8_t buff[8] = {0};
   memcpy(buff, &speed, 1);
-  memcpy(buff + 4, &distance, 4);
+  memcpy(buff + 1, &distance, 4);
   by_frame_send(0x44, buff, 8);
   return (by_cmd_reg_listerning(0x44, 1000));
 }
 
+/**
+ * @brief 设置 z 轴增量位置
+ *
+ * @param speed
+ * @param distance
+ * @return int
+ */
 int by_cmd_send_distance_axis_z(uint8_t speed, float distance)
 {
   uint8_t buff[8] = {0};
   memcpy(buff, &speed, 1);
-  memcpy(buff + 4, &distance, 4);
+  memcpy(buff + 1, &distance, 4);
   by_frame_send(0x46, buff, 8);
   return (by_cmd_reg_listerning(0x46, 1000));
 }
 
+/**
+ * @brief 发送 x 轴绝对位置
+ *
+ * @param speed
+ * @param position
+ * @return int
+ */
 int by_cmd_send_position_axis_x(uint8_t speed, float position)
 {
   uint8_t buff[8] = {0};
   memcpy(buff, &speed, 1);
-  memcpy(buff + 4, &position, 4);
+  memcpy(buff + 1, &position, 4);
   by_frame_send(0x47, buff, 8);
   return (by_cmd_reg_listerning(0x47, 1000));
 }
 
+/**
+ * @brief 发送 z 轴绝对位置
+ *
+ * @param speed
+ * @param position
+ * @return int
+ */
 int by_cmd_send_position_axis_z(uint8_t speed, float position)
 {
   uint8_t buff[8] = {0};
   memcpy(buff, &speed, 1);
-  memcpy(buff + 4, &position, 4);
+  memcpy(buff + 1, &position, 4);
   by_frame_send(0x49, buff, 8);
   return (by_cmd_reg_listerning(0x49, 1000));
 }
 
+/**
+ * @brief 设置夹爪摇臂角度
+ *
+ * @param angle
+ * @return int
+ */
 int by_cmd_send_angle_claw_arm(float angle)
 {
   uint8_t buff[4] = {0};
@@ -225,6 +256,12 @@ int by_cmd_send_angle_claw_arm(float angle)
   return (by_cmd_reg_listerning(0x50, 1000));
 }
 
+/**
+ * @brief 设置夹爪角度
+ *
+ * @param angle
+ * @return int
+ */
 int by_cmd_send_angle_claw(float angle)
 {
   uint8_t buff[4] = {0};
@@ -233,6 +270,48 @@ int by_cmd_send_angle_claw(float angle)
   return (by_cmd_reg_listerning(0x51, 1000));
 }
 
+/**
+ * @brief 设置摄像头角度
+ *
+ * @param angle
+ * @return int
+ */
+int by_cmd_send_angle_camera(float angle)
+{
+  uint8_t buff[4] = {0};
+  memcpy(buff, &angle, 4);
+  by_frame_send(0x52, buff, 4);
+  return (by_cmd_reg_listerning(0x52, 1000));
+}
+
+/**
+ * @brief 设置顶端抓取机构角度
+ *
+ * @param angle
+ * @return int
+ */
+int by_cmd_send_angle_scoop(float angle)
+{
+  uint8_t buff[4] = {0};
+  memcpy(buff, &angle, 4);
+  by_frame_send(0x53, buff, 4);
+  return (by_cmd_reg_listerning(0x53, 1000));
+}
+
+/**
+ * @brief 设置托盘角度
+ *
+ * @param angle
+ * @return int
+ */
+int by_cmd_send_angle_storage(float angle)
+{
+  uint8_t buff[4] = {0};
+  memcpy(buff, &angle, 4);
+  by_frame_send(0x54, buff, 4);
+  return (by_cmd_reg_listerning(0x54, 1000));
+}
+
 int by_cmd_send_ranging_start(void)
 {
   uint8_t buff[4] = {0};

by_cmd.h

@@ -26,6 +26,9 @@ int by_cmd_send_position_axis_z(uint8_t speed, float position);
 
 int by_cmd_send_angle_claw_arm(float angle);
 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_ranging_start(void);
 int by_cmd_recv_ranging_data(float *distance);