v1.2版本改为通过xbox系列手柄进行遥控,并增加智能模式和手动模式

v1.2/Shibo-main-TOMMY/lib/SCServo/examples/STSCL/SyncWritePos/SyncWritePos.ino

@@ -0,0 +1,44 @@
+/*
+The SyncWritePos example passed the test in ST3215 Servo, 
+and if testing other models of ST series servos
+please change the appropriate position, speed and delay parameters.
+*/
+
+#include <SCServo.h>
+SMS_STS st;
+
+// the uart used to control servos.
+// GPIO 18 - S_RXD, GPIO 19 - S_TXD, as default.
+#define S_RXD 18
+#define S_TXD 19
+
+byte ID[2];
+s16 Position[2];
+u16 Speed[2];
+byte ACC[2];
+
+void setup()
+{
+  Serial1.begin(1000000, SERIAL_8N1, S_RXD, S_TXD);
+  st.pSerial = &Serial1;
+  delay(1000);
+  ID[0] = 1;
+  ID[1] = 2;
+  Speed[0] = 3400;
+  Speed[1] = 3400;
+  ACC[0] = 50;
+  ACC[1] = 50;
+}
+
+void loop()
+{
+  Position[0] = 3000;
+  Position[1] = 3000;
+  st.SyncWritePosEx(ID, 2, Position, Speed, ACC);//servo(ID1/ID2) speed=3400，acc=50，move to position=3000.
+  delay(2000);
+
+  Position[0] = 100;
+  Position[1] = 100;
+  st.SyncWritePosEx(ID, 2, Position, Speed, ACC);//servo(ID1/ID2) speed=3400，acc=50，move to position=100.
+  delay(2000);
+}