v1.3增加一个简单的越障模式

v1.3/lib/SCServo/examples/STSCL/FeedBack/FeedBack.ino

@@ -0,0 +1,135 @@
+/*
+回读所有舵机反馈参数:位置、速度、负载、电压、温度、移动状态、电流；
+FeedBack函数回读舵机参数于缓冲区，Readxxx(-1)函数返回缓冲区中相应的舵机状态；
+函数Readxxx(ID)，ID=-1返回FeedBack缓冲区参数；ID>=0，通过读指令直接返回指定ID舵机状态,
+无需调用FeedBack函数。
+Read back all feedback parameters: position, speed, load, voltage, temperature, movement status;
+The FeedBack function reads back the servo parameters in the buffer, and the Readxxx (-1) function returns the corresponding servo state in the buffer;
+Function Readxxx (ID), ID=1 returns the FeedBack buffer parameter; ID > 0, and directly returns the specified ID rudder state by reading the instruction.
+There is no need to call the FeedBack function.
+*/
+
+// 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>
+
+SMS_STS sms_sts;
+
+void setup()
+{
+  Serial1.begin(1000000, SERIAL_8N1, S_RXD, S_TXD);
+  Serial.begin(115200);
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  int Pos;
+  int Speed;
+  int Load;
+  int Voltage;
+  int Temper;
+  int Move;
+  int Current;
+  if(sms_sts.FeedBack(1)!=-1){
+    Pos = sms_sts.ReadPos(-1);
+    Speed = sms_sts.ReadSpeed(-1);
+    Load = sms_sts.ReadLoad(-1);
+    Voltage = sms_sts.ReadVoltage(-1);
+    Temper = sms_sts.ReadTemper(-1);
+    Move = sms_sts.ReadMove(-1);
+    Current = sms_sts.ReadCurrent(-1);
+    Serial.print("Position:");
+    Serial.println(Pos);
+    Serial.print("Speed:");
+    Serial.println(Speed);
+    Serial.print("Load:");
+    Serial.println(Load);
+    Serial.print("Voltage:");
+    Serial.println(Voltage);
+    Serial.print("Temper:");
+    Serial.println(Temper);
+    Serial.print("Move:");
+    Serial.println(Move);
+    Serial.print("Current:");
+    Serial.println(Current);
+    delay(10);
+  }else{
+    Serial.println("FeedBack err");
+    delay(500);
+  }
+  
+  Pos = sms_sts.ReadPos(1);
+  if(Pos!=-1){
+    Serial.print("Servo position:");
+    Serial.println(Pos, DEC);
+    delay(10);
+  }else{
+    Serial.println("read position err");
+    delay(500);
+  }
+  
+  Voltage = sms_sts.ReadVoltage(1);
+  if(Voltage!=-1){
+	Serial.print("Servo Voltage:");
+    Serial.println(Voltage, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Voltage err");
+    delay(500);
+  }
+  
+  Temper = sms_sts.ReadTemper(1);
+  if(Temper!=-1){
+    Serial.print("Servo temperature:");
+    Serial.println(Temper, DEC);
+    delay(10);
+  }else{
+    Serial.println("read temperature err");
+    delay(500);    
+  }
+
+  Speed = sms_sts.ReadSpeed(1);
+  if(Speed!=-1){
+    Serial.print("Servo Speed:");
+    Serial.println(Speed, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Speed err");
+    delay(500);    
+  }
+  
+  Load = sms_sts.ReadLoad(1);
+  if(Load!=-1){
+    Serial.print("Servo Load:");
+    Serial.println(Load, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Load err");
+    delay(500);    
+  }
+  
+  Current = sms_sts.ReadCurrent(1);
+  if(Current!=-1){
+    Serial.print("Servo Current:");
+    Serial.println(Current, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Current err");
+    delay(500);    
+  }
+
+  Move = sms_sts.ReadMove(1);
+  if(Move!=-1){
+    Serial.print("Servo Move:");
+    Serial.println(Move, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Move err");
+    delay(500);    
+  }
+  Serial.println();
+}