580 lines
16 KiB
C
580 lines
16 KiB
C
#define FEEDBACK_BASE_INFO 1001
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#define FEEDBACK_IMU_DATA 1002
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// esp-now recv
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// {"T":1003,"mac":"FF:FF:FF:FF:FF:FF","megs":"hello!"}
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#define CMD_ESP_NOW_RECV 1003
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// esp-now send status
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// 0:failed 1:succeed 2:Error initializing ESP-NOW
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// 3:invalid MAC address format.
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// 4:Failed to add peer.
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// 5:add peer. 6:delete peer.
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// 7:error sending the data. 8:sent with success.
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// {"T":1004,"mac":"FF:FF:FF:FF:FF:FF","status":1,"megs":"xxx"}
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#define CMD_ESP_NOW_SEND 1004
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// bus servos error feedback
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// {"T":1005,"id":1,"status":1}
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#define CMD_BUS_SERVO_ERROR 1005
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// ---===< EoAT type settings. >===---
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// modeType 0: gripper
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// {"T":124,"mode":0}
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// modeType 1: wrist
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// {"T":124,"mode":1}
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#define CMD_EOAT_TYPE 124
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// EoAT assemble.
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// mount position: 0 - edge
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// 1 - D-3.2
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// 2 - D-4.2
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// 3 - D-10.2
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// -------L3A-----------O==L2B===
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// | ^ ||
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// L3B | ||
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// | ELBOW_JOINT ||
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// pos->X--L4A---O L2A
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// | ||
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// | L4B ||
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// / | ||
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// PI X-EA-X SHOULDER_JOINT -> OO
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// \ | [||]
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// EB L1
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// | [||]
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// -------- BASE_JOINT -> XX
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// unit:mm
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// {"T":125,"pos":3,"ea":0,"eb":20}
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#define CMD_CONFIG_EOAT 125
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// ---===< UGV ctrl. >===---
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// SPEED_INPUT
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// {"T":1,"L":0.5,"R":0.5}
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#define CMD_SPEED_CTRL 1
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// {"T":11,"L":164,"R":164} (input PWM +-255)
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#define CMD_PWM_INPUT 11
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// {"T":13,"X":0.1,"Z":0.3} (m/s,rad/s)(Not for the products without encoders)
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#define CMD_ROS_CTRL 13
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// MOTOR PID & WINDUP LIMITS
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// {"T":2,"P":200,"I":2500,"D":0,"L":255}
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// {"T":2,"P":20,"I":2500,"D":0,"L":255}
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// {"T":222,"name":"mission_a","step":"{\"T\":104,\"x\":235,\"y\":0,\"z\":234,\"t\":3.14,\"spd\":0.25}"}
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// {"T":222,"name":"boot","step":"{\"T\":2,\"P\":20,\"I\":2500,\"D\":0,\"L\":255}"}
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#define CMD_SET_MOTOR_PID 2
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// OLED INFO SET
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// {"T":3,"lineNum":0,"Text":"putYourTextHere"}
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#define CMD_OLED_CTRL 3
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// OLED DEFAULT
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// {"T":-3}
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#define CMD_OLED_DEFAULT -3
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// MODULE TYPE
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// 0: nothing
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// 1: RoArm-M2-S
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// 2: Gimbal
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// {"T":4,"cmd":0}
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#define CMD_MODULE_TYPE 4
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// {"T":126}
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#define CMD_GET_IMU_DATA 126
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// the robot need to be put on a ground and kept still
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// getting the imu offset and set as default
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// this gonna take a while (5s)
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// {"T":127}
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#define CMD_CALI_IMU_STEP 127
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// {"T":128}
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#define CMD_GET_IMU_OFFSET 128
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// {"T":129,"x":-12,"y":0,"z":0}
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#define CMD_SET_IMU_OFFSET 129
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// {"T":130}
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#define CMD_BASE_FEEDBACK 130
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// off: {"T":131,"cmd":0} [default]
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// on: {"T":131,"cmd":1}
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#define CMD_BASE_FEEDBACK_FLOW 131
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// set the extra delay time(ms) for feedback info
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// {"T":142,"cmd":0}
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#define CMD_FEEDBACK_FLOW_INTERVAL 142 // dev
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// set the echo mode of recving new cmd.
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// 0: [default]off
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// 1: on
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// {"T":143,"cmd":0}
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#define CMD_UART_ECHO_MODE 143
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// start magnetometer calibration and save to flash after rotation
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// {"T":145}
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#define CMD_CALI_MAG_START 145
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// LIGHT/GIMBAL/MOVTION CTRL
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// {"T":132,"IO4":255,"IO5":255}
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#define CMD_LED_CTRL 132
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// GIMBAL CTRL(SIMPLE)
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// {"T":133,"X":45,"Y":45,"SPD":0,"ACC":0}
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#define CMD_GIMBAL_CTRL_SIMPLE 133
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// GIMBAL CTRL MOVE
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// {"T":134,"X":45,"Y":45,"SX":300,"SY":300}
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#define CMD_GIMBAL_CTRL_MOVE 134
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// GIMBAL CTRL STOP
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// {"T":135}
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#define CMD_GIMBAL_CTRL_STOP 135
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// CHANGE HEART BEAT DELAY
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// {"T":136,"cmd":3000}
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#define CMD_HEART_BEAT_SET 136
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// GIMBAL STEADY
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// off: {"T":137,"s":0,"y":0}
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// on: {"T":137,"s":1,"y":0}
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#define CMD_GIMBAL_STEADY 137
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// SET SPEED RATE
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// {"T":138,"L":1,"R":1}
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#define CMD_SET_SPD_RATE 138
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// GET SPEED RATE
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// {"T":139}
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#define CMD_GET_SPD_RATE 139
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// SAVE SPEED RATE
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// {"T":140}
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#define CMD_SAVE_SPD_RATE 140
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// GIMBAL USER CTRL
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// {"T":141,"X":0,"Y":0,"SPD":300}
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// -1: decrease
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// 1: increase
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// 0: stop
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// 2,2: middle
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#define CMD_GIMBAL_USER_CTRL 141
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// ---===< Arm ctrl. >===---
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// it moves to goal position directly.
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// without interpolation.
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// {"T":100}
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#define CMD_MOVE_INIT 100
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// {"T":101,"joint":0,"rad":0,"spd":0,"acc":10}
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// joint: 1-BASE_JOINT + ->left
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// 2-SHOULDER_JOINT + ->down
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// 3-ELBOW_JOINT + ->down
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// 4-EOAT_JOINT + ->grab/down
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// spd: steps/s
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// acc: steps/s^2
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#define CMD_SINGLE_JOINT_CTRL 101
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// {"T":102,"base":0,"shoulder":0,"elbow":1.57,"hand":1.57,"spd":0,"acc":10}
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// input the angle in rad(180°=3.1415926).
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#define CMD_JOINTS_RAD_CTRL 102
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// {"T":103,"axis":2,"pos":0,"spd":0.25}
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// axis: 1-x: 235.11
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// 2-y: 0
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// 3-z: 234.79
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// 4-t: 1.57
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#define CMD_SINGLE_AXIS_CTRL 103
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// // // // // // // // // // // // // // // // // // // // //
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// {"T":104,"x":235,"y":0,"z":234,"t":3.14,"spd":0.25} //
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#define CMD_XYZT_GOAL_CTRL 104 //
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// // // // // // // // // // // // // // // // // // // // //
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// {"T":1041,"x":235,"y":0,"z":234,"t":3.14}
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#define CMD_XYZT_DIRECT_CTRL 1041
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// {"T":105}
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// x: real x position.
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// y: real y position.
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// z: real z position.
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// t: real grab/hand angle in rad.
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// torB: base joint torque.
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// torS: shoulder joint torque.
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// torE: elbow joint torque.
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#define CMD_SERVO_RAD_FEEDBACK 105
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// release:
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// {"T":106,"cmd":1.57,"spd":0,"acc":0}
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// grab:
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// {"T":106,"cmd":3.14,"spd":0,"acc":0}
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// hand joint ctrl using angle in radius.
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// {"T":106,"cmd":4.0,"spd":0,"acc":0}
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#define CMD_EOAT_HAND_CTRL 106
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// {"T":107,"tor":200}
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#define CMD_EOAT_GRAB_TORQUE 107
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// {"T":108,"joint":3,"p":16,"i":0}
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// change the P&I of a joint.
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// BASE_JOINT - 1
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// SHOULDER_JOINT - 2
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// ELBOW_JOINT - 3
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// EOAT_JOINT - 4
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// default p:32[servo] 16[RoArm-M2]
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// i: 0[servo] 8[RoArm-M2 PID MODE ON]
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// d: not used by default
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#define CMD_SET_JOINT_PID 108
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// {"T":109}
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// reset the PID.
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#define CMD_RESET_PID 109
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// set a new x-axis.
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// {"T":110,"xAxisAngle":0}
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#define CMD_SET_NEW_X 110
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// set delay time
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// {"T":111,"cmd":3000}
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#define CMD_DELAY_MILLIS 111
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// dynamic external force adaptation.
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// mode: 0 - stop: reset every limit torque to 1000.
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// 1 - start: set the joint limit torque.
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// b, s, e, h = bassJoint, shoulderJoint, elbowJoint, handJoint
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// example:
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// starts. input the limit torque of every joint.
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// {"T":112,"mode":1,"b":60,"s":110,"e":50,"h":50}
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// stop
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// {"T":112,"mode":0,"b":1000,"s":1000,"e":1000,"h":1000}
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#define CMD_DYNAMIC_ADAPTATION 112
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// switch-12V ctrl.(NOT FOR UVG)
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// pwm: -255 ~ 0(off) ~ +255
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// {"T":113,"pwm_a":-255,"pwm_b":-255}
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#define CMD_SWITCH_CTRL 113
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// light ctrl.(NOT FOR UVG)
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// led: 0(off) - 255(max)
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// {"T":114,"led":255}
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#define CMD_LIGHT_CTRL 114
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// switch off.
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// {"T":115}
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#define CMD_SWITCH_OFF 115
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// ctrl a single joint abs angle in deg.
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// joint: 1-BASE_JOINT + ->left
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// 2-SHOULDER_JOINT + ->down
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// 3-ELBOW_JOINT + ->down
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// 4-EOAT_JOINT + ->grab/down
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// spd: speed, angle/s^2
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// acc: speed, angle/s^2 (max: 22.5)
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// {"T":121,"joint":1,"angle":0,"spd":10,"acc":10}
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#define CMD_SINGLE_JOINT_ANGLE 121
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// ctrl all joints
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// b - BASE
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// s - SHOULDER
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// e - ELBOW
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// h - HAND
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// spd - angle/s
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// acc - angle/s^2 (max: 22.5)
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// {"T":122,"b":0,"s":0,"e":90,"h":180,"spd":10,"acc":10}
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#define CMD_JOINTS_ANGLE_CTRL 122
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// constant ctrl
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// m: 0 - angle
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// 1 - xyzt
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// cmd: 0 - stop
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// 1 - increase
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// 2 - decrease
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// {"T":123,"m":0,"axis":0,"cmd":0,"spd":3}
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#define CMD_CONSTANT_CTRL 123
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// 124/125...131
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// === === === MISSION CTRL & FILE CTRL === === ===
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// scan files in flash.
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// {"T":200}
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#define CMD_SCAN_FILES 200
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// create a new file and input the content.
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// {"T":201,"name":"file.txt","content":"inputContentHere."}
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#define CMD_CREATE_FILE 201
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// get a file content.
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// {"T":202,"name":"file.txt"}
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#define CMD_READ_FILE 202
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// remove a file in flash.
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// {"T":203,"name":"file.txt"}
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#define CMD_DELETE_FILE 203
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// add a line at the end of a file.
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// {"T":204,"name":"file.txt","content":"inputContentHere."}
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#define CMD_APPEND_LINE 204
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// insert a new line as lineNum.
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// {"T":205,"name":"file.txt","lineNum":3,"content":"content"}
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#define CMD_INSERT_LINE 205
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// change a single line in the file.
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// {"T":206,"name":"file.txt","lineNum":3,"content":"Content"}
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#define CMD_REPLACE_LINE 206
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// read a single line from file.
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// {"T":207,"name":"file.txt","lineNum":3}
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#define CMD_READ_LINE 207
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// delete a single line from file.
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// {"T":208,"name":"file.txt","lineNum":3}
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#define CMD_DELETE_LINE 208
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// torque-lock ctrl.
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// off: {"T":210,"cmd":0}
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// on: {"T":210,"cmd":1}
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#define CMD_TORQUE_CTRL 210
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// === === === mission & steps edit. === === ===
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// create a mission in flash:
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// {"T":220,"name":"mission_a","intro":"test mission created in flash."}
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#define CMD_CREATE_MISSION 220
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// input the mission name and get the total content.
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// {"T":221,"name":"mission_a"}
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#define CMD_MISSION_CONTENT 221
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// {"T":144,"E":100,"Z":0,"R":0}
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#define CMD_ARM_CTRL_UI 144
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// append a new step at the end of the mission, using the step input.
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// {"T":222,"name":"mission_a","step":"{\"T\":104,\"x\":235,\"y\":0,\"z\":234,\"t\":3.14,\"spd\":0.25}"}
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#define CMD_APPEND_STEP_JSON 222
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// append a new step at the end of the mission, using the feedback.
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// {"T":223,"name":"mission_a","spd":0.25}
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#define CMD_APPEND_STEP_FB 223
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// append a new delay(ms) at the end of the mission.
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// {"T":224,"name":"mission_a","delay":3000}
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#define CMD_APPEND_DELAY 224
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// insert a new step as the stepNum
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// using the json string input.
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// {"T":225,"name":"mission_a","stepNum":3,"step":"{\"T\":104,\"x\":235,\"y\":0,\"z\":234,\"t\":3.14,\"spd\":0.25}"}
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// {"T":225,"name":"mission_a","stepNum":3,"step":"{\"T\":114,\"led\":255}"}
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#define CMD_INSERT_STEP_JSON 225
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// insert a new step as the stepNum
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// using the feedback.
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// {"T":226,"name":"mission_a","stepNum":3,"spd":0.25}
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#define CMD_INSERT_STEP_FB 226
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// insert a new delay(ms) at the stepNum.
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// {"T":227,"stepNum":3,"delay":3000}
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#define CMD_INSERT_DELAY 227
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// replace the cmd at stepNum
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// using json cmd input.
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// {"T":228,"name":"mission_a","stepNum":3,"step":"{\"T\":114,\"led\":255}"}
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#define CMD_REPLACE_STEP_JSON 228
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// replace the cmd at stepNum
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// using feedback.
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// {"T":229,"name":"mission_a","stepNum":3,"spd":0.25}
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#define CMD_REPLACE_STEP_FB 229
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// replace the cmd at stepNum with delay cmd.
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// {"T":230,"name":"mission_a","stepNum":3,"delay":3000}
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#define CMD_REPLACE_DELAY 230
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// delete a step
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// {"T":231,"name":"mission_a","stepNum":3}
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#define CMD_DELETE_STEP 231
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// input the mission name and a stepNum, it will move to the step.
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// {"T":241,"name":"mission_a","stepNum":3}
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#define CMD_MOVE_TO_STEP 241
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// input the mission name and repeatTimes to play a mission.
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// if repeatTimes = -1, it will loop forever.
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// {"T":242,"name":"mission_a","times":3}
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#define CMD_MISSION_PLAY 242
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// === === === ESP-NOW settings. === === ===
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// note: wifi must be running under STA(AP+STA) mode.
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// it will be controled by broadcast mac address.
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// {"T":300,"mode":1} [default]
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// it won't be controled by broadcast mac address, and add one mac to whitelist.
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// if there is no leader you can just fill 00:00:00:00:00:00 in it.
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// {"T":300,"mode":0,"mac":"CC:DB:A7:5B:E4:1C"}
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#define CMD_BROADCAST_FOLLOWER 300
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// set the mode of esp-now
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// espNowMode: 0 - none
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// 1 - flow-leader(group): sending cmds
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// 2 - flow-leader(single): sending cmds to a single follower
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// 3 - [default]follower: recv cmds
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// flow-leader - use cmd=0, ctrl servos in real time.
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// leader uses the servos feedback pos to ctrl followers.
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// {"T":301,"mode":3}
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#define CMD_ESP_NOW_CONFIG 301
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// get this dev mac address.
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// {"T":302}
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#define CMD_GET_MAC_ADDRESS 302
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// add a new follower mac address to peer.
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// {"T":303,"mac":"FF:FF:FF:FF:FF:FF"}
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// {"T":303,"mac":"CC:DB:A7:5B:E4:1C"}
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// {"T":303,"mac":"CC:DB:A7:5C:1C:40"}
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// {"T":303,"mac":"CC:DB:A7:5C:E5:FC"}
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#define CMD_ESP_NOW_ADD_FOLLOWER 303
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// remove a follower from peer.
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// {"T":304,"mac":"FF:FF:FF:FF:FF:FF"}
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// {"T":304,"mac":"CC:DB:A7:5B:E4:1C"}
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// {"T":304,"mac":"CC:DB:A7:5C:1C:40"}
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// {"T":304,"mac":"CC:DB:A7:5C:E5:FC"}
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#define CMD_ESP_NOW_REMOVE_FOLLOWER 304
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// send info to more than one peer devs.
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// "FF:FF:FF:FF:FF:FF" can't be in the broadcast peer.
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// {"T":305,"dev":0,"b":0,"s":0,"e":1.57,"h":1.57,"cmd":0,"megs":"hello!"}
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#define CMD_ESP_NOW_GROUP_CTRL 305
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// send info to a single dev, or to every devs by using "FF:FF:FF:FF:FF:FF"
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// broadcast ctrl:
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// {"T":306,"mac":"FF:FF:FF:FF:FF:FF","dev":0,"b":0,"s":0,"e":1.57,"h":1.57,"cmd":0,"megs":"hello!"}
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// {"T":306,"mac":"FF:FF:FF:FF:FF:FF","dev":0,"b":0,"s":0,"e":0,"h":0,"cmd":1,"megs":"{\"T\":114,\"led\":255}"}
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// single ctrl:
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// {"T":306,"mac":"CC:DB:A7:5C:E5:FC","dev":0,"b":0,"s":0,"e":1.57,"h":1.57,"cmd":0,"megs":"hello!"}
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#define CMD_ESP_NOW_SINGLE 306
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// === === === wifi settings. === === ===
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// config the wifi mode on boot.
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// 0 - off
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// 1 - ap
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// 2 - sta
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// 3 - ap+sta
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// {"T":401,"cmd":3}
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#define CMD_WIFI_ON_BOOT 401
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// config ap mode.
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// {"T":402,"ssid":"UGV","password":"12345678"}
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#define CMD_SET_AP 402
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// config sta mode.
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// {"T":403,"ssid":"na","password":"ps"}
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#define CMD_SET_STA 403
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// config ap/sta mode.
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// {"T":404,"ap_ssid":"UGV","ap_password":"12345678","sta_ssid":"na","sta_password":"ps"}
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#define CMD_WIFI_APSTA 404
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// get wifi info.
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// {"T":405}
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#define CMD_WIFI_INFO 405
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// create a wifiConfig.json file
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// from the args already be using.
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// {"T":406}
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#define CMD_WIFI_CONFIG_CREATE_BY_STATUS 406
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// create a wifiConfig.json file
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// from the args input.
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// {"T":407,"mode":3,"ap_ssid":"UGV","ap_password":"12345678","sta_ssid":"na","sta_password":"ps"}
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#define CMD_WIFI_CONFIG_CREATE_BY_INPUT 407
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// disconnect wifi.
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// {"T":408}
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#define CMD_WIFI_STOP 408
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// === === === servo settings. === === ===
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// change a servo's ID.
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// {"T":501,"raw":1,"new":11}
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#define CMD_SET_SERVO_ID 501
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// set the current position as the middle position.
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// > BASE_SERVO_ID 11
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// > SHOULDER_DRIVING_SERVO_ID 12
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// > SHOULDER_DRIVEN_SERVO_ID 13
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// > ELBOW_SERVO_ID 14
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// > GRIPPER_SERVO_ID 15
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// {"T":502,"id":11}
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#define CMD_SET_MIDDLE 502
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// set the P/PID of a single servo.
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// {"T":503,"id":14,"p":16}
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#define CMD_SET_SERVO_PID 503
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// === === === esp32 settings. === === ===
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// esp-32 ctrl.
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// reboot device.
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// {"T":600}
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#define CMD_REBOOT 600
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// get the size of free flash space
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// {"T":601}
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#define CMD_FREE_FLASH_SPACE 601
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// boot mission info.
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// {"T":602}
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#define CMD_BOOT_MISSION_INFO 602
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// reset boot mission.
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// {"T":603}
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#define CMD_RESET_BOOT_MISSION 603
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// if there is something wrong with wifi funcs, clear the nvs.
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// {"T":604}
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#define CMD_NVS_CLEAR 604
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// 2: flow feedback.
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// 1: [default]print debug info in serial.
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// 0: don't print debug info in serial.
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// {"T":605,"cmd":1}
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#define CMD_INFO_PRINT 605
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// === === === mainType & moduleType settings. === === ===
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// {"T":900,"main":1,"module":0}
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// main_type: 1-WAVE ROVER, 2-UGV02, 3-UGV01
|
|
#define CMD_MM_TYPE_SET 900
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