mirror of
https://github.com/usatiuk/EggbotWireless.git
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62 lines
1.1 KiB
C
62 lines
1.1 KiB
C
#ifndef COMMANDS_H
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#define COMMANDS_H
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enum bcAxis {
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X = 1,
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Y = 2,
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Z = 3,
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};
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enum I2CMessage {
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WAIT,
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NEXT,
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};
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enum StatusMSG {
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servoRot,
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eggRot,
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servoPos,
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eggPos,
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penPos,
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};
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enum class CommandType {
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unk = 0,
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G00,
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G01,
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M99,
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};
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struct Command {
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CommandType type = CommandType::unk;
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float arg1 = NAN;
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float arg2 = NAN;
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float arg3 = NAN;
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float arg4 = NAN;
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float arg5 = NAN;
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float arg6 = NAN;
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Command(CommandType type = CommandType::unk, float arg1 = NAN,
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float arg2 = NAN, float arg3 = NAN, float arg4 = NAN,
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float arg5 = NAN, float arg6 = NAN)
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: type(type),
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arg1(arg1),
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arg2(arg2),
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arg3(arg3),
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arg4(arg4),
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arg5(arg5),
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arg6(arg6){};
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Command(float *floats);
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int fromFloats(float *floats);
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int toFloats(float *floats);
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Command(byte *bytes);
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int fromBytes(byte *bytes);
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int toBytes(byte *bytes);
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};
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void bytesToFloat(float *target, byte *val);
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void floatToBytes(byte *target, float val);
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#endif |