add motor param srv

2025-10-29 11:51:50 +08:00
parent 1578ced272
commit 397e87c420
4 changed files with 9 additions and 0 deletions
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -48,6 +48,7 @@ set(srv_files
  srv/MapLoad.srv
  srv/MapSave.srv
  srv/BtRebuild.srv
+  srv/MotorParam.srv
 )

 include_directories(include)
--- a/src/msg/MotorCmd.msg
+++ b/src/msg/MotorCmd.msg
@@ -3,3 +3,4 @@ string type
 string position
 int32[] motor_id
 float32[] motor_angle
+float32[] motor_speed
--- a/src/msg/MotorPos.msg
+++ b/src/msg/MotorPos.msg
@@ -3,3 +3,4 @@ string type
 string position
 int32[] motor_id
 float32[] motor_angle
+float32[] motor_speed
--- a/src/srv/MotorParam.srv
+++ b/src/srv/MotorParam.srv
@@ -0,0 +1,6 @@
+uint16 motor_id
+uint16 max_speed
+uint16 add_acc
+uint16 dec_acc
+---
+int16 ret