sts_servo_cmd.h

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#pragma once
 
#include "sts_protocol.h"
#include "sts_servo.h"
 
#define STS_MAX_POSITION      4095U  
#define STS_MAX_SPEED         3073U  
#define STS_MAX_ACCELERATION  150U   
#define STS_MAX_PWM           1000U  
#define STS_MAX_STEP          32767U 
#define STS_MAX_TORQUE        1000U  
#define EEPROM_UNLOCK         0U     
#define EEPROM_LOCK           1U     
typedef enum {
    STS_DIR_CCW = 0U, 
    STS_DIR_CW  = 1U  
} sts_direction_t;
 
 
sts_result_t STS_SetTorqueEnable(sts_servo_t *servo, uint8_t enable);
 
sts_result_t STS_SetOperatingMode(sts_servo_t *servo, sts_operating_mode_t mode);
 
sts_result_t STS_SetTargetPosition(sts_servo_t *servo, uint16_t position);
 
sts_result_t STS_GetPresentPosition(sts_servo_t *servo, uint16_t *position_out);
 
sts_result_t STS_GetPresentSpeed(sts_servo_t *servo, int16_t *speed_out);
 
sts_result_t STS_SetTargetSpeed(sts_servo_t *servo, uint16_t speed, sts_direction_t dir);
 
sts_result_t STS_SetTargetAcceleration(sts_servo_t *servo, uint8_t acceleration);
 
sts_result_t STS_SetTarget(sts_servo_t *servo, int32_t target);
 
sts_result_t STS_SetTargetStep(sts_servo_t *servo, uint16_t steps, sts_direction_t dir);
 
sts_result_t STS_SetTargetPWM(sts_servo_t *servo, uint16_t pwm, sts_direction_t dir);
 
sts_result_t STS_SetTorqueLimit(sts_servo_t *servo, uint16_t limit);
 
sts_result_t STS_GetPresentLoad(sts_servo_t *servo, int16_t *load_out);
 
sts_result_t STS_GetPresentVoltage(sts_servo_t *servo, uint8_t *voltage_out);
 
sts_result_t STS_GetPresentTemperature(sts_servo_t *servo, uint8_t *temp_out);
 
sts_result_t STS_GetMovingStatus(sts_servo_t *servo, uint8_t *status_out);
 
sts_result_t STS_SetEEPROMLock(sts_servo_t *servo, uint8_t lock);
 
sts_result_t STS_SetID(sts_servo_t *servo, uint8_t new_id);