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Gitshaoxiang
78457b190e
* rename some example file * add Unit exmaple sketch comment * add module example comment
62 lines
1.2 KiB
C++
62 lines
1.2 KiB
C++
#ifndef __GOPLUS_H__
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#define __GOPLUS_H__
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#include <Wire.h>
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#define GOPLUS_ADDR 0x5d
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#define SERVO_ADDR 0x10
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#define SERVO_NUM0 0x00
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#define SERVO_NUM1 0x01
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#define SERVO_NUM2 0x02
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#define SERVO_NUM3 0x03
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#define MOTOR_ADDR 0x30
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#define MOTOR_NUM0 0x00
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#define MOTOR_NUM1 0x02
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#define HUB1_ADDR 0x40
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#define HUB2_ADDR 0x50
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#define HUB3_ADDR 0x60
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#define HUB_NUM0 0x06
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#define HUB_NUM1 0x07
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#define HUB_READ 0x00
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#define HUB_WIRE 0x80
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#define HUB_DIGITAL 0x00
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#define HUB_ANALOG 0x01
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class GoPlus {
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public:
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GoPlus();
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void begin();
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void Servo_write_angle(uint8_t number, uint8_t angle);
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void Motor_write_speed(uint8_t number, uint8_t trun,uint8_t motor_speed);
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uint16_t hub1_a_read_value(uint8_t reg);
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uint16_t hub1_d_read_value(uint8_t reg);
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uint16_t hub2_d_read_value(uint8_t reg);
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uint16_t hub3_d_read_value(uint8_t reg);
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uint16_t hub2_a_read_value(uint8_t reg);
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uint16_t hub3_a_read_value(uint8_t reg);
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void hub1_wire_value(uint8_t reg,uint16_t value);
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void hub2_wire_value(uint8_t reg,uint16_t value);
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void hub3_wire_value(uint8_t reg,uint16_t value);
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public:
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private:
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private:
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};
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#endif
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