From 0ec075ed33382a0fd69b680c42ab6ed537b1eca7 Mon Sep 17 00:00:00 2001
From: LAPTOP-SNT8I5JK\Boounion <Chenluhua@qq.com>
Date: 星期一, 19 五月 2025 15:18:30 +0800
Subject: [PATCH] 1.实现RobotCmd的下发，待测；
---
SourceCode/Bond/Servo/CEquipment.h | 26 ++++++++++++++++++++++++++
1 files changed, 26 insertions(+), 0 deletions(-)
diff --git a/SourceCode/Bond/Servo/CEquipment.h b/SourceCode/Bond/Servo/CEquipment.h
index b62b420..4e8f6db 100644
--- a/SourceCode/Bond/Servo/CEquipment.h
+++ b/SourceCode/Bond/Servo/CEquipment.h
@@ -73,6 +73,32 @@
Local = 2
};
+ enum RCMD {
+ Robot_home = 1,
+ Transfer,
+ Move,
+ Get,
+ Put,
+ One_Action_Exchange,
+ Two_Action_Exchange,
+ Command_Clear,
+ Batch_get,
+ Batch_put
+ };
+
+ // Robot cmd param
+#define ROBOT_CMD_PARAM_SIZE 16 /* 防止以后修改ROBOT_CMD_PARAM为不是4的整数倍 */
+ typedef struct _ROBOT_CMD_PARAM {
+ short sequenceNo;
+ short rcmd;
+ short armNo;
+ short getPosition;
+ short putPosition;
+ short getSlotNo;
+ short putSlotNo;
+ short subCmd;
+ } ROBOT_CMD_PARAM;
+
class CEquipment
{
public:
--
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