initial commit

by_cmd.h

@@ -0,0 +1,22 @@
+#ifndef _BY_CMD_H__
+#define _BY_CMD_H__
+
+#include <stdio.h>
+#include <stdint.h>
+
+int by_cmd_init(void);
+void *by_cmd_loop(void *ptr);
+
+void by_cmd_send_speed_x(float speed);
+void by_cmd_send_speed_y(float speed);
+void by_cmd_send_speed_omega(float speed);
+
+int by_cmd_send_distance_x(float speed, uint32_t time);
+int by_cmd_send_distance_y(float speed, uint32_t time);
+int by_cmd_send_angle_omega(float speed, uint32_t time);
+
+int by_cmd_send_reset_axis_z(void);
+int by_cmd_send_reset_axis_x(void);
+int by_cmd_send_reset_end_effector(void);
+
+#endif