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Motor development #7

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6f94886
STServo basic code
crunode260 Jan 21, 2026
2adf07b
relocate ST3215 test code
JinRhee Jan 25, 2026
6e6db45
add C++ library
JinRhee Jan 25, 2026
f03ed61
Commenting code
crunode260 Jan 25, 2026
24e5917
change STServo id
crunode260 Jan 28, 2026
9bcfe12
added ping sweep@
JinRhee Feb 18, 2026
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5 changes: 4 additions & 1 deletion .gitignore
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Original file line number Diff line number Diff line change
@@ -1,4 +1,7 @@
__pycache__
*.Identifier
URDF_Exporter/.env
URDF_Exporter/.vscode/
URDF_Exporter/.vscode/
ST3215/STServo_Python/stservo-env/Include/
ST3215/STServo_Python/stservo-env/Scripts/
ST3215/STServo_Python/stservo-env/Lib/
Binary file added ST3215/SCServo_Cpp/.DS_Store
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Binary file added ST3215/SCServo_Cpp/SCServo_Linux/.DS_Store
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11 changes: 11 additions & 0 deletions ST3215/SCServo_Cpp/SCServo_Linux/CMakeLists.txt
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cmake_Minimum_required(VERSION 2.8.3)
set(project "SCServo")
project(${project})

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3")

file(GLOB hdrs *.h)
file(GLOB srs *.cpp)

add_library(${project} STATIC ${hdrs} ${srs})
#add_executable(${project} main.cpp ${hdrs} ${srs})
26 changes: 26 additions & 0 deletions ST3215/SCServo_Cpp/SCServo_Linux/INST.h
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/*
* INST.h
* 串行舵机协议指令定义
* 日期: 2021.12.8
* 作者:
*/

#ifndef _INST_H
#define _INST_H

typedef char s8;
typedef unsigned char u8;
typedef unsigned short u16;
typedef short s16;
typedef unsigned long u32;
typedef long s32;

#define INST_PING 0x01
#define INST_READ 0x02
#define INST_WRITE 0x03
#define INST_REG_WRITE 0x04
#define INST_REG_ACTION 0x05
#define INST_SYNC_READ 0x82
#define INST_SYNC_WRITE 0x83

#endif
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