45 lines
951 B
Arduino
45 lines
951 B
Arduino
/*
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The SyncWritePos example passed the test in ST3215 Servo,
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and if testing other models of ST series servos
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please change the appropriate position, speed and delay parameters.
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*/
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#include <SCServo.h>
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SMS_STS st;
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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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byte ID[2];
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s16 Position[2];
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u16 Speed[2];
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byte ACC[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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st.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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Speed[0] = 3400;
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Speed[1] = 3400;
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ACC[0] = 50;
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ACC[1] = 50;
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}
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void loop()
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{
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Position[0] = 3000;
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Position[1] = 3000;
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st.SyncWritePosEx(ID, 2, Position, Speed, ACC);//servo(ID1/ID2) speed=3400，acc=50，move to position=3000.
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delay(2000);
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Position[0] = 100;
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Position[1] = 100;
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st.SyncWritePosEx(ID, 2, Position, Speed, ACC);//servo(ID1/ID2) speed=3400，acc=50，move to position=100.
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delay(2000);
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}
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