41 lines
1.2 KiB
C
41 lines
1.2 KiB
C
#ifndef _BY_CMD_H__
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#define _BY_CMD_H__
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#include <stdio.h>
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#include <stdint.h>
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int by_cmd_init(void);
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void *by_cmd_loop(void *ptr);
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void by_cmd_send_speed_x(float speed);
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void by_cmd_send_speed_y(float speed);
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void by_cmd_send_speed_omega(float speed);
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int by_cmd_send_distance_x(float speed, uint32_t time);
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int by_cmd_send_distance_y(float speed, uint32_t time);
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int by_cmd_send_angle_omega(float speed, uint32_t time);
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int by_cmd_send_reset_axis_z(void);
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int by_cmd_send_reset_axis_x(void);
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int by_cmd_send_reset_end_effector(void);
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int by_cmd_send_distance_axis_x(uint8_t speed, float distance);
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int by_cmd_send_distance_axis_z(uint8_t speed, float distance);
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int by_cmd_send_position_axis_x(uint8_t speed, float position);
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int by_cmd_send_position_axis_z(uint8_t speed, float position);
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int by_cmd_send_angle_claw_arm(float angle);
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int by_cmd_send_angle_claw(float angle);
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int by_cmd_send_angle_camera(float angle);
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int by_cmd_send_angle_scoop(float angle);
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int by_cmd_send_angle_storage(float angle);
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int by_cmd_send_angle_zhuan(float angle);
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int by_cmd_send_ranging_start(void);
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int by_cmd_recv_ranging_data(float *distance);
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int by_cmd_send_light(uint8_t status);
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int by_cmd_send_beep(uint8_t status);
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#endif
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