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Shibo-main-V4-ESPNOW/lib/SCServo/examples/SCSCL/SyncWritePos/SyncWritePos.ino

@@ -0,0 +1,44 @@
+/*
+The SyncWritePos example passed the test in SCS15, 
+and if testing other models of SCS series servos
+please change the appropriate position, speed and delay parameters.
+*/
+
+// the uart used to control servos.
+// GPIO 18 - S_RXD, GPIO 19 - S_TXD, as default.
+#define S_RXD 18
+#define S_TXD 19
+
+#include <SCServo.h>
+
+SCSCL sc;
+
+byte ID[2];
+u16 Position[2];
+u16 Speed[2];
+
+void setup()
+{
+  Serial1.begin(1000000, SERIAL_8N1, S_RXD, S_TXD);
+  sc.pSerial = &Serial1;
+  delay(1000);
+  ID[0] = 1;
+  ID[1] = 2;
+}
+
+void loop()
+{
+  Position[0] = 1000;
+  Position[1] = 1000;
+  Speed[0] = 1500;
+  Speed[1] = 1500;
+  sc.SyncWritePos(ID, 2, Position, 0, Speed);//Servo((ID1/ID2)) moves at max speed=1500, moves to position=1000.
+  delay(754);//[(P1-P0)/V]*1000+100
+
+  Position[0] = 20;
+  Position[1] = 20;
+  Speed[0] = 1500;
+  Speed[1] = 1500;
+  sc.SyncWritePos(ID, 2, Position, 0, Speed);//Servo((ID1/ID2)) moves at max speed=1500, moves to position=20.
+  delay(754);//[(P1-P0)/V]*1000+100
+}