Robocon 2021 / LSCServo

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Dependents:   DR-ArmServoTest ros_button_2021 DR-ArmServoTest

Files at this revision

API Documentation at this revision

Revision 2:acaaf1126d76, committed 2021-06-03

Comitter:
stivending
Date:
Thu Jun 03 04:56:29 2021 +0000
Parent:
1:1398d9ddd4ef
Commit message:
add moveServos func

Changed in this revision

LSCServo.cpp Show annotated file Show diff for this revision Revisions of this file
LSCServo.h Show annotated file Show diff for this revision Revisions of this file 
--- a/LSCServo.cpp	Tue May 25 09:18:49 2021 +0000
+++ b/LSCServo.cpp	Thu Jun 03 04:56:29 2021 +0000
@@ -4,6 +4,7 @@
 #include "BufferedSerial.h"
 
 #include <vector>
+#include <cstdarg>
 #include "LSCServo.h"
 
 #define GET_LOW_char(A) (uint8_t)((A))
@@ -128,4 +129,33 @@
     buf[2]=0x02;
     buf[3]=0x07;
     serial.write(buf,4);
-}
\ No newline at end of file
+}
+
+void LSCServo::moveServos(uint8_t Num, uint16_t Time, ...)
+{
+    uint8_t buf[128];
+    va_list arg_ptr;
+    va_start(arg_ptr, Time);
+    if (Num < 1 || Num > 32 || (!(Time > 0))) {
+        return; 
+    }
+    buf[0] = LOBOT_SERVO_FRAME_HEADER;  
+    buf[1] = LOBOT_SERVO_FRAME_HEADER;
+    buf[2] = Num * 3 + 5;   
+    buf[3] = 0x03;  
+    buf[4] = Num;    
+    buf[5] = GET_LOW_char(Time);
+    buf[6] = GET_HIGH_char(Time); 
+    uint8_t index = 7;
+    for (uint8_t i = 0; i < Num; i++) {
+        uint16_t tmp = va_arg(arg_ptr, uint16_t);
+        buf[index++] = GET_LOW_char(tmp);
+                                         
+        uint16_t pos = va_arg(arg_ptr, uint16_t);
+        buf[index++] = GET_LOW_char(pos);
+        buf[index++] = GET_HIGH_char(pos);
+    }
+    va_end(arg_ptr);  
+    serial.write(buf, buf[2] + 2); 
+    wait_ms(Time);
+}

--- a/LSCServo.h	Tue May 25 09:18:49 2021 +0000
+++ b/LSCServo.h	Thu Jun 03 04:56:29 2021 +0000
@@ -25,5 +25,6 @@
         void LobotSerialActionGroupSpeed(uint16_t id, uint16_t speed);//Set Run speed Action Group in XXX%, 0xFF for all
         int LobotSerialGetBatteryVoltage();//get voltage of board in terms of mV
         void LobotSerialActionGroupStop();//Stop current action group
+        void LSCServo::moveServos(uint8_t Num, uint16_t Time, ...);
 };
 #endif
\ No newline at end of file