/*
 * msp_Elite_Robot.h
 *
 *  Created on: Feb 18, 2025
 *      Author: bm673
 */

#ifndef INC_MSP_ELITE_ROBOT_H_
#define INC_MSP_ELITE_ROBOT_H_

#include "BSP/bsp_include.h"
typedef enum {
    CLEAR_ALARM_1 = 1,
    CLEAR_DATA_2 = 2,
    SERVO_POWER_ON_3 = 3,
    PROGRAM_START_4 = 4,
    RETURN_TO_START_5 = 5,
    EMERGENCY_STOP_6 = 6,
    PAUSE_PROGRAM_7 = 7,
    SERVO_POWER_OFF_8 = 8,
    CLEAR_COLLISION_ALARM_9 = 9,
    PROGRAM_END_FEEDBACK_10 = 10,
    RESERVED_PROGRAM_1_11 = 11,
    RESERVED_PROGRAM_2_12 = 12,
    CLEAR_RESERVATION_13 = 13
} BOperationState;


typedef struct
 {
	double Joint_Angle[6];//关节位置1;//关节位置2;//关节位置3;//关节位置4;//关节位置5;//关节位置6
 }Robot_Joint_Angle;

void  GF_Elite_Callback();
void GF_MSP_Elite_Inquiry(int16_t Quit_Falg);
uint8_t GF_MSP_Elite_Init(UART_HandleTypeDef* huart, Robot_Joint_Angle* _Robot_Angle );
void GF_MSP_Elite_Joint_Position_Inquiry();
#endif /* INC_MSP_ELITE_ROBOT_H_ */
