45 lines
1.5 KiB
C++
45 lines
1.5 KiB
C++
#ifndef HANDLERS_H
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#define HANDLERS_H
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#include "motor.h"
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#include "storage.h"
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#include "ble.h"
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#include "ultrasound.h"
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#include "transmit.h"
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#include "pid.h"
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#include "utils.h"
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// 指令定义
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#define CMD_GET_BT_STATUS 0x10
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#define CMD_GET_SPIFFS_STATUS 0x11
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#define CMD_GET_DISTANCE 0x12
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#define CMD_SET_NAME 0xA1
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#define CMD_SET_PID 0xA2
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#define CMD_MOTOR_MOVE_CONTROL 0x20
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#define CMD_MOTOR_STEER_CONTROL 0x21
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#define CMD_MOTOR_SINGLE_CONTROL 0x22
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#define CMD_MOTOR_ROTATE_CONTROL 0x23
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#define CMD_DEMO_PID 0xf0
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#define CMD_DEMO_PATH 0xf1
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#define CMD_MOTOR_XYR_CONTROL 0x24 // XYR轴向控制指令
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#define CMD_STATUS_MOTOR 0xE0
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class Handlers
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{
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public:
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static void getBTStatus(BLECharacteristic &characteristic);
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static void getSPIFFSStatus(BLECharacteristic &characteristic);
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static void getDistance(BLECharacteristic &characteristic);
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static void setName(BLECharacteristic &characteristic, uint8_t *packet);
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static void setPID(BLECharacteristic &characteristic, uint8_t *packet);
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static void motorMoveControl(BLECharacteristic &characteristic, uint8_t *packet);
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static void motorSteerControl(BLECharacteristic &characteristic, uint8_t *packet);
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static void motorRotateControl(BLECharacteristic &characteristic, uint8_t *packet);
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static void motorSingleControl(BLECharacteristic &characteristic, uint8_t *packet);
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static void motorXYRControl(BLECharacteristic &characteristic, uint8_t *packet);
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static void demoPID(BLECharacteristic &characteristic, uint8_t *packet);
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};
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#endif |