v1.3增加一个简单的越障模式

v1.3/lib/SCServo/SCSCL.h

@@ -0,0 +1,81 @@
+/*
+ * SCSCL.h
+ * 飞特SCSCL系列串行舵机应用层程序
+ * 日期: 2021.3.11
+ * 作者: 
+ */
+
+#ifndef _SCSCL_H
+#define _SCSCL_H
+
+//内存表定义
+//-------EPROM(只读)--------
+#define SCSCL_VERSION_L 3
+#define SCSCL_VERSION_H 4
+
+//-------EPROM(读写)--------
+#define SCSCL_ID 5
+#define SCSCL_BAUD_RATE 6
+#define SCSCL_MIN_ANGLE_LIMIT_L 9
+#define SCSCL_MIN_ANGLE_LIMIT_H 10
+#define SCSCL_MAX_ANGLE_LIMIT_L 11
+#define SCSCL_MAX_ANGLE_LIMIT_H 12
+#define SCSCL_CW_DEAD 26
+#define SCSCL_CCW_DEAD 27
+
+//-------SRAM(读写)--------
+#define SCSCL_TORQUE_ENABLE 40
+#define SCSCL_GOAL_POSITION_L 42
+#define SCSCL_GOAL_POSITION_H 43
+#define SCSCL_GOAL_TIME_L 44
+#define SCSCL_GOAL_TIME_H 45
+#define SCSCL_GOAL_SPEED_L 46
+#define SCSCL_GOAL_SPEED_H 47
+#define SCSCL_LOCK 48
+
+//-------SRAM(只读)--------
+#define SCSCL_PRESENT_POSITION_L 56
+#define SCSCL_PRESENT_POSITION_H 57
+#define SCSCL_PRESENT_SPEED_L 58
+#define SCSCL_PRESENT_SPEED_H 59
+#define SCSCL_PRESENT_LOAD_L 60
+#define SCSCL_PRESENT_LOAD_H 61
+#define SCSCL_PRESENT_VOLTAGE 62
+#define SCSCL_PRESENT_TEMPERATURE 63
+#define SCSCL_MOVING 66
+#define SCSCL_PRESENT_CURRENT_L 69
+#define SCSCL_PRESENT_CURRENT_H 70
+
+#include "SCSerial.h"
+
+class SCSCL : public SCSerial
+{
+public:
+	SCSCL();
+	SCSCL(u8 End);
+	SCSCL(u8 End, u8 Level);
+	virtual int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed);//普通写单个舵机位置指令
+	virtual int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC);//单个舵机位置指令
+	virtual int RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//异步写单个舵机位置指令(RegWriteAction生效)
+	virtual void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]);//同步写多个舵机位置指令
+	virtual int PWMMode(u8 ID);//PWM输出模式
+	virtual int WritePWM(u8 ID, s16 pwmOut);//PWM输出模式指令
+	virtual int EnableTorque(u8 ID, u8 Enable);//扭矩控制指令
+	virtual int unLockEprom(u8 ID);//eprom解锁
+	virtual int LockEprom(u8 ID);//eprom加锁
+	virtual int FeedBack(int ID);//反馈舵机信息
+	virtual int ReadPos(int ID);//读位置
+	virtual int ReadSpeed(int ID);//读速度
+	virtual int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
+	virtual int ReadVoltage(int ID);//读电压
+	virtual int ReadTemper(int ID);//读温度
+	virtual int ReadMove(int ID);//读移动状态
+	virtual int ReadCurrent(int ID);//读电流
+	virtual int ReadMode(int ID);
+	virtual int CalibrationOfs(u8 ID);
+	virtual int ReadInfoValue(int ID, int AddInput);
+private:
+	u8 Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L+1];
+};
+
+#endif