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