/****************************************Copyright（c）*****************************************************
**????????????????????????????Shenzhen?Yuejiang?Technology?Co.?LTD.
**
**?????????????????????????????????http://www.dobot.cc
**
**--------------File?Info---------------------------------------------------------------------------------
**?File?name:???????????main.cpp
**?Latest?modified?Date:2016-10-24
**?Latest?Version:??????V2.0.0
**?Descriptions:????????main?body
**
**--------------------------------------------------------------------------------------------------------
**?Created?by:??????????liyi
**?Created?date:????????2016-10-24
**?Version:?????????????V1.0.0
**?Descriptions:????????Command?API
**--------------------------------------------------------------------------------------------------------
*********************************************************************************************************/

#include?
#include?
#include?“command.h“
#include?“Protocol.h“
#include?“ProtocolID.h“

/*********************************************************************************************************
**?Function?name:???????SetEndEffectorParams
**?Descriptions:????????Set?end?effector?parameters
**?Input?parameters:????endEffectorParams?isQueued
**?Output?parameters:???queuedCmdIndex
**?Returned?value:??????true
*********************************************************************************************************/
int?SetEndEffectorParams（EndEffectorParams?*endEffectorParams?bool?isQueued?uint64_t?*queuedCmdIndex）
{
??Message?tempMessage;

??memset（&tempMessage?0?sizeof（Message））;
??tempMessage.id?=?ProtocolEndEffectorParams;
??tempMessage.rw?=?true;
??tempMessage.isQueued?=?isQueued;
??tempMessage.paramsLen?=?sizeof（EndEffectorParams）;
??memcpy（tempMessage.params?（uint8_t?*）endEffectorParams?tempMessage.paramsLen）;

??MessageWrite（&gSerialProtocolHandler?&tempMessage）;

??return?true;
}

/*********************************************************************************************************
**?Function?name:???????SetEndEffectorLaser
**?Descriptions:????????Set?the?laser?output
**?Input?parameters:????onisQueued
**?Output?parameters:???queuedCmdIndex
**?Returned?value:??????true
*********************************************************************************************************/
int?SetEndEffectorLaser（bool?on?bool?isQueued?uint64_t?*queuedCmdIndex）
{
??Message?tempMessage;

??memset（&tempMessage?0?sizeof（Message））;
??tempMessage.id?=?ProtocolEndEffectorLaser;
??tempMessage.rw?=?true;
??tempMessage.isQueued?=?isQueued;
??tempMessage.paramsLen?=?1;
??tempMessage.params[0]?=?on;

??MessageWrite（&gSerialProtocolHandler?&tempMessage）;

??return?true;
}

/*********************************************************************************************************
**?Function?name:???????SetEndEffectorSuctionCup
**?Descriptions:????????Set?the?suctioncup?output
**?Input?parameters:????suckisQueued
**?O

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????18383??2019-01-22?12:05??dobot_circle\command.cpp

?????文件???????7880??2019-01-22?12:05??dobot_circle\command.h

?????文件???????6371??2019-01-23?12:45??dobot_circle\dobot_circle.ino

?????文件???????6516??2017-02-07?15:53??dobot_circle\FlexiTimer2.cpp

?????文件????????518??2012-02-14?01:16??dobot_circle\FlexiTimer2.h

?????文件???????3807??2016-11-25?20:50??dobot_circle\Message.cpp

?????文件???????2671??2016-11-25?20:50??dobot_circle\Message.h

?????文件???????7463??2016-11-25?20:50??dobot_circle\Packet.cpp

?????文件???????1425??2016-11-25?20:50??dobot_circle\Packet.h

?????文件???????3932??2019-01-18?10:03??dobot_circle\Protocol.cpp

?????文件???????1953??2019-01-18?10:25??dobot_circle\Protocol.h

?????文件???????2070??2017-02-20?22:12??dobot_circle\ProtocolDef.h

?????文件???????5561??2019-01-22?10:29??dobot_circle\ProtocolID.h

?????文件???????4348??2016-11-25?20:50??dobot_circle\RingBuffer.cpp

?????文件???????5755??2016-11-25?20:50??dobot_circle\RingBuffer.h

?????目錄??????????0??2019-01-23?12:45??dobot_circle

-----------?---------??----------?-----??----

????????????????78653????????????????????16