优化命令字

RBcore/BHBF.c

@@ -70,7 +70,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
         	{
         		aiMotorSpeed[0] = iSpeed;
         		aiMotorSpeed[1] = iSpeed;
-        		MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
+        		MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
         	}
             break;
         }
@@ -80,7 +80,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 			{
 				aiMotorSpeed[0] = -iSpeed;
 				aiMotorSpeed[1] = -iSpeed;
-				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
+				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
 			}
             break;
         }
@@ -90,7 +90,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 			{
 				aiMotorSpeed[0] = -g_stCV.LeftTurnSpeed;
 				aiMotorSpeed[1] = g_stCV.RightTurnSpeed;
-				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
+				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
 			}
 			break;
 		}
@@ -100,7 +100,7 @@ static void RBcore_ModuleHandler(const Msg_t *pstMsg)
 			{
 				aiMotorSpeed[0] = g_stCV.LeftTurnSpeed;
 				aiMotorSpeed[1] = -g_stCV.RightTurnSpeed;
-				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
+				MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_SET_SPEED, aiMotorSpeed, sizeof(aiMotorSpeed));
 			}
 			break;
 		}

RBcore/include/BHBF.h

@@ -75,13 +75,9 @@ extern "C"{
 
 typedef enum {
 	LUA_SHOW_INFO,
-    MOTOR_CMD_SET_SPEED,		 // 设置速度
+    MOTOR_SET_SPEED,		 // 设置速度
-    MOTOR_CMD_SET_POSITION,      // 设置位置
+	MOTOR_GET_SPEED,         // 获取速度
-	MOTOR_CMD_GET_SPEED,         // 获取速度
+    MOTOR_GET_FAULT_CODE,    // 获取错误码
-    MOTOR_CMD_GET_FAULT_CODE,    // 获取错误码
-    MOTOR_CMD_SET_HOME,          // 设置零点
-    MOTOR_CMD_SPEED_MODE,        // 速度模式
-    MOTOR_CMD_POSITION_MODE,     // 位置模式
     MOTOR_CMD_END = 0x0100,
 
 	CMD_STOP_ALL,         // 机器人停止

motor/msp_motor_leisai.c

@@ -407,7 +407,7 @@ static int LeiSai_ParseResponse(Motor_Instance_t *pstMotor, const uint8_t *pucDa
         	{
         		pstMotor->m_eState = MOTOR_STATE_ERROR;
         	}
-        	MsgCenter_SendTo(MODULE_NAME_CUSTOM, MOTOR_CMD_GET_FAULT_CODE, uiFaultCode, sizeof(uiFaultCode));
+        	MsgCenter_SendTo(MODULE_NAME_CUSTOM, MOTOR_GET_FAULT_CODE, uiFaultCode, sizeof(uiFaultCode));
             break;
         }
         case LEISAI_OD_VELOCITY_ACTUAL:
@@ -419,7 +419,7 @@ static int LeiSai_ParseResponse(Motor_Instance_t *pstMotor, const uint8_t *pucDa
 										   | (pucData[7] << 24));
         	iRealVelocity[1] = MotorMgr_SpeedConvertex(pstMotor, iRealVelocity[0]);
         	iRealVelocity[0] = pstMotor->m_stConfig.m_ucMotorID;
-        	MsgCenter_SendTo(MODULE_NAME_CUSTOM, MOTOR_CMD_GET_SPEED, iRealVelocity, sizeof(iRealVelocity));
+        	MsgCenter_SendTo(MODULE_NAME_CUSTOM, MOTOR_GET_SPEED, iRealVelocity, sizeof(iRealVelocity));
         	log_d("iRealVelocity[1] = %d", iRealVelocity[1]);
         	break;
         }

project/paint_robot_new/paint_robot_new.c

@@ -67,7 +67,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 
     switch (pstMsg->m_uiMsgID)
     {
-    	case MOTOR_CMD_GET_FAULT_CODE:
+    	case MOTOR_GET_FAULT_CODE:
 		{
 			uint32_t uiFailtCode[2] = {0};
 			if (pstMsg->m_uiDataLen >= sizeof(uiFailtCode))
@@ -76,7 +76,7 @@ static void Custom_ModuleHandler(const Msg_t *pstMsg)
 			}
 			break;
 		}
-    	case MOTOR_CMD_GET_SPEED:
+    	case MOTOR_GET_SPEED:
 		{
 			int32_t iCurrentSpeed[2] = {0};
 			if (pstMsg->m_uiDataLen >= sizeof(iCurrentSpeed))

project/paint_robot_new/paint_robot_new_motors.c

@@ -61,7 +61,7 @@ static void Motor_ModuleHandler(const Msg_t *pstMsg)
 
     switch (pstMsg->m_uiMsgID)
     {
-        case MOTOR_CMD_SET_SPEED:
+        case MOTOR_SET_SPEED:
         {
             int aiMotorSpeed[2] = {0};
             if (pstMsg->m_uiDataLen >= sizeof(aiMotorSpeed))