35 lines
866 B
Plaintext
35 lines
866 B
Plaintext
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// servo_service.erpc
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// Generator examples:
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// .\erpcgen.exe -o .\generated\ -g c .\servo_service.erpc
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// .\erpcgen.exe -g py .\servo_service.erpc
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// 注意：interface 客户端和服务端erpc里面的函数顺序一定要一样
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program servo_service
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enum RpcMotionMode {
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RpcMotionModeImmediate = 0,
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RpcMotionModeSCurve = 1,
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RpcMotionModeFollow = 2
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}
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struct ServoCmd {
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string id
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float angle_rad
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}
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interface servo_service
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{
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setConstraints(string id,
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float max_velocity_rad,
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float max_acceleration_rad,
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float max_jerk_rad) -> bool
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setPositionGain(string id,
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float position_gain) -> bool
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setMode(RpcMotionMode mode)->bool
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setUpdatePeriodMs(uint32 ms) -> bool
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move(list<ServoCmd> cmds) -> int32
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moveJ(list<float> angles_rad) -> int32
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}
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