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RMTT_Protocol.h
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RMTT_Protocol.h
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/*
* Copyright (C) 2020 DJI.
*
* SPDX-License-Identifier: BSD-3-Clause-Clear
*
* Change Logs:
* Date Author Notes
* 2020-08-25 robomaster first version
*/
#pragma once
#include <Arduino.h>
class RMTT_Protocol
{
private:
void SendCMD(char *cmd);
public:
RMTT_Protocol();
RMTT_Protocol(uint16_t time);
~RMTT_Protocol();
void SDKOn();
void SDKOff();
void TakeOff();
void Land();
void Emergency();
void Up(int16_t x);
void Down(int16_t x);
void Left(int16_t x);
void Right(int16_t x);
void Forward(int16_t x);
void Back(int16_t x);
void CW(uint16_t x);
void CCW(uint16_t x);
void Flip(char x);
void Go(int16_t x, int16_t y, int16_t z, uint16_t speed);
void Go(int16_t x, int16_t y, int16_t z, uint16_t speed, char *mid);
void Stop();
void Curve(int16_t x1, int16_t y1, int16_t z1, int16_t x2, int16_t y2, int16_t z2, uint16_t speed);
void Curve(int16_t x1, int16_t y1, int16_t z1, int16_t x2, int16_t y2, int16_t z2, uint16_t speed, char *mid);
void Jump(int16_t x, int16_t y, int16_t z, uint16_t speed, int16_t yaw, char *mid, char *mid2);
void SetSpeed(int16_t x);
void SetRC(int16_t a, int16_t b, int16_t c, int16_t d);
void SetMon();
void SetMoff();
void SetMdirection(uint8_t x);
void ReadSpeed();
void ReadBattery();
void ReadTime();
void ReadSN();
void ReadSDKVersion();
// 函数声明
String getTelloMsgString(char* cmd, uint32_t timeout);
int getTelloMsgInt(char* cmd, uint32_t timeout);
String getTelloResponseString(uint32_t timeout);
int getTelloResponseInt(uint32_t timeout);
void startUntilControl();
int sendTelloCtrlMsg(char *cmd_str);
};