WIP: snapshot before repo migration

2026-05-27 02:14:33 +08:00
parent aa7ed7cf51
commit ec41ed8a48
51 changed files with 3119 additions and 2015 deletions
--- a/jxbeye/lib/FTServo/LICENSE
+++ b/jxbeye/lib/FTServo/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 ftservo
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
--- a/jxbeye/lib/FTServo/README.md
+++ b/jxbeye/lib/FTServo/README.md
@@ -0,0 +1,44 @@
+# FEETECH BUS Servo
+
+> FEETECH BUS Servo library for Arduino and ESP32
+
+## Table of Contents
+
+<!-- TOC -->
+* [FEETECH BUS Servo](#ft-series-servo)
+  * [Table of Contents](#table-of-contents)
+  * [Requirements](#requirements)
+  * [Usage](#usage)
+  * [Notes](#notes)
+  * [Release](#release)
+<!-- TOC -->
+
+## Requirements
+
+* arduino-1.6.10 or newer(https://www.arduino.cc/).
+
+## Usage
+
+For usage examples, see the [examples](./examples) directory.
+
+## Notes
+
+The code for the `SCServo` library is divided into the following
+parts:
+
+* communication layer: [src/SCS.cpp](src/SCS.cpp)
+* hardware interface layer: [src/SCSerial.cpp](src/SCSerial.cpp)
+* application layer:
+  * corresponds to the three series of FEETECH BUS Servo
+    * `SCSCL` application layer program: [src/SCSCL.h](src/SCSCL.h) and [src/SCSCL.cpp](src/SCSCL.cpp)
+    * `SMS` and `STS` application layer program: [src/SMS_STS.h](src/SMS_STS.h) and [src/SMS_STS.cpp](src/SMS_STS.cpp)
+    * `HLS` application layer program: [src/HLSCL.h](src/HLSCL.h) and [src/HLSCL.cpp](src/HLSCL.cpp)
+* instruction definition header file: [src/INST.h](src/INST.h)
+* communication layer program: [src/SCS.h](src/SCS.h) and [src/SCS.cpp](src/SCS.cpp)
+* hardware interface program: [src/SCSerial.h](src/SCSerial.h) and [src/SCSerial.cpp](src/SCSerial.cpp)
+
+Note that there are differences in the memory table definitions of different series of FEETECH BUS servos.
+
+## Release
+
+New (GitHub) releases of this library are automatically ingressed by the Arduino Library Manager.
--- a/jxbeye/lib/FTServo/examples/HLSCL/Broadcast/Broadcast.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/Broadcast/Broadcast.ino
@@ -0,0 +1,22 @@
+#include <SCServo.h>
+
+HLSCL hlscl;
+
+void setup()
+{
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(广播)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，最大扭矩电流T=500*6.5=3250mA，运行至P1=4095位置
+  hlscl.WritePosEx(0xfe, 4095, 60, 50, 500);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(广播)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，最大扭矩电流T=500*6.5=3250mA，运行至P0=0位置
+  hlscl.WritePosEx(0xfe, 0, 60, 50, 500);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/CalibrationOfs/CalibrationOfs.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/CalibrationOfs/CalibrationOfs.ino
@@ -0,0 +1,28 @@
+/*
+中位校准例子
+*/
+
+#include <SCServo.h>
+
+HLSCL hlscl;
+
+void setup()
+{
+  Serial.begin(115200);
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+  hlscl.CalibrationOfs(1);
+  delay(10);
+}
+
+void loop()
+{
+  int pos = hlscl.ReadPos(1);
+  if(!hlscl.getLastError()){
+    Serial.print("mid pos:");
+    Serial.println(pos);
+  }
+  delay(1000);
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/FeedBack/FeedBack.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/FeedBack/FeedBack.ino
@@ -0,0 +1,148 @@
+/*
+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。
+*/
+
+#include <SCServo.h>
+
+HLSCL hlscl;
+int LEDpin = 13;
+
+void setup()
+{
+  pinMode(LEDpin,OUTPUT);
+  digitalWrite(LEDpin, HIGH);
+  Serial1.begin(1000000);//mega2560
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s32
+  Serial.begin(115200);
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  int Pos;
+  int Speed;
+  int Load;
+  int Voltage;
+  int Temper;
+  int Move;
+  int Current;
+  hlscl.FeedBack(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Pos = hlscl.ReadPos(-1);
+    Speed = hlscl.ReadSpeed(-1);
+    Load = hlscl.ReadLoad(-1);
+    Voltage = hlscl.ReadVoltage(-1);
+    Temper = hlscl.ReadTemper(-1);
+    Move = hlscl.ReadMove(-1);
+    Current = hlscl.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{
+    digitalWrite(LEDpin, HIGH);
+    Serial.println("FeedBack err");
+    delay(500);
+  }
+  
+  Pos = hlscl.ReadPos(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo position:");
+    Serial.println(Pos, DEC);
+    delay(10);
+  }else{
+    Serial.println("read position err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);
+  }
+  
+  Voltage = hlscl.ReadVoltage(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Voltage:");
+    Serial.println(Voltage, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Voltage err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);
+  }
+  
+  Temper = hlscl.ReadTemper(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo temperature:");
+    Serial.println(Temper, DEC);
+    delay(10);
+  }else{
+    Serial.println("read temperature err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+
+  Speed = hlscl.ReadSpeed(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Speed:");
+    Serial.println(Speed, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Speed err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  
+  Load = hlscl.ReadLoad(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Load:");
+    Serial.println(Load, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Load err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  
+  Current = hlscl.ReadCurrent(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Current:");
+    Serial.println(Current, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Current err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+
+  Move = hlscl.ReadMove(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Move:");
+    Serial.println(Move, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Move err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  Serial.println();
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/Ping/Ping.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/Ping/Ping.ino
@@ -0,0 +1,34 @@
+/*
+Ping指令测试,测试总线上相应ID舵机是否就绪,广播指令只适用于总线只有一个舵机情况
+*/
+
+#include <SCServo.h>
+
+HLSCL hlscl;
+
+int LEDpin = 13;
+void setup()
+{
+  pinMode(LEDpin,OUTPUT);
+  digitalWrite(LEDpin, HIGH);
+  Serial.begin(115200);
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  int ID = hlscl.Ping(1);
+  if(!hlscl.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo ID:");
+    Serial.println(ID, DEC);
+    delay(100);
+  }else{
+    Serial.println("Ping servo ID error!");
+    digitalWrite(LEDpin, HIGH);
+    delay(2000);
+  }
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/ProgramEprom/ProgramEprom.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/ProgramEprom/ProgramEprom.ino
@@ -0,0 +1,27 @@
+/*
+舵机参数编程
+*/
+
+#include <SCServo.h>
+
+int LEDpin = 13;
+HLSCL hlscl;
+
+void setup()
+{
+  pinMode(LEDpin, OUTPUT);
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+  digitalWrite(LEDpin, LOW);
+  hlscl.unLockEprom(1);//打开EPROM保存功能
+  hlscl.writeByte(1, HLSCL_ID, 2);//ID
+  hlscl.LockEprom(2);//关闭EPROM保存功能
+  digitalWrite(LEDpin, HIGH);
+}
+
+void loop()
+{
+
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/RegWritePos/RegWritePos.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/RegWritePos/RegWritePos.ino
@@ -0,0 +1,26 @@
+#include <SCServo.h>
+
+HLSCL hlscl;
+
+void setup()
+{
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，最大扭矩电流T=3500*6.5=3250mA，运行至P1=4095位置
+  hlscl.RegWritePosEx(1, 4095, 60, 50, 500);
+  hlscl.RegWritePosEx(2, 4095, 60, 50, 500);
+  hlscl.RegWriteAction();
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(ID1/ID2)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，最大扭矩电流T=500*6.5=3250mA，运行至P1=4095位置
+  hlscl.RegWritePosEx(1, 0, 60, 50, 500);
+  hlscl.RegWritePosEx(2, 0, 60, 50, 500);
+  hlscl.RegWriteAction();
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/SyncRead/SyncRead.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/SyncRead/SyncRead.ino
@@ -0,0 +1,45 @@
+/*
+同步读指令，回读ID1与ID2两个舵机的位置与速度信息
+*/
+
+#include <SCServo.h>
+
+HLSCL hlscl;
+
+uint8_t ID[] = {1, 2};
+uint8_t rxPacket[4];
+int16_t Position;
+int16_t Speed;
+
+void setup()
+{
+  Serial.begin(115200);
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  hlscl.syncReadBegin(sizeof(ID), sizeof(rxPacket), 5);//10*10*2=200us<5ms
+  delay(1000);
+}
+
+void loop()
+{  
+  hlscl.syncReadPacketTx(ID, sizeof(ID), HLSCL_PRESENT_POSITION_L, sizeof(rxPacket));//同步读指令包发送
+  for(uint8_t i=0; i<sizeof(ID); i++){
+    //接收ID[i]同步读返回包
+    if(!hlscl.syncReadPacketRx(ID[i], rxPacket)){
+     Serial.print("ID:");
+     Serial.println(ID[i]);
+     Serial.println("sync read error!");
+     continue;//接收解码失败
+    }
+    Position = hlscl.syncReadRxPacketToWrod(15);//解码两个字节 bit15为方向位,参数=0表示无方向位
+    Speed = hlscl.syncReadRxPacketToWrod(15);//解码两个字节 bit15为方向位,参数=0表示无方向位
+    Serial.print("ID:");
+    Serial.println(ID[i]);
+    Serial.print("Position:");
+    Serial.println(Position);
+    Serial.print("Speed:");
+    Serial.println(Speed);
+  }
+  delay(10);
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/SyncWritePos/SyncWritePos.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/SyncWritePos/SyncWritePos.ino
@@ -0,0 +1,39 @@
+#include <SCServo.h>
+HLSCL hlscl;
+
+byte ID[2];
+s16 Position[2];
+u16 Speed[2];
+byte ACC[2];
+u16 Torque[2];
+
+void setup()
+{
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+  ID[0] = 1;//舵机ID1
+  ID[1] = 2;//舵机ID2
+  Speed[0] = 60;//最高速度V=60*0.732=43.92rpm
+  Speed[1] = 60;//最高速度V=60*0.732=43.92rpm
+  ACC[0] = 50;//加速度A=50*8.7deg/s^2
+  ACC[1] = 50;//加速度A=50*8.7deg/s^2
+  Torque[0] = 300;//最大扭矩电流T=500*6.5=3250mA
+  Torque[1] = 300;//最大扭矩电流T=500*6.5=3250mA
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，最大扭矩电流T=500*6.5=3250mA，运行至P1=4095位置
+  Position[0] = 4095;
+  Position[1] = 4095;
+  hlscl.SyncWritePosEx(ID, 2, Position, Speed, ACC, Torque);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(ID1/ID2)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，最大扭矩电流T=500*6.5=3250mA，运行至P0=0位置
+  Position[0] = 0;
+  Position[1] = 0;
+  hlscl.SyncWritePosEx(ID, 2, Position, Speed, ACC, Torque);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/SyncWriteSpe/SyncWriteSpe.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/SyncWriteSpe/SyncWriteSpe.ino
@@ -0,0 +1,50 @@
+#include <SCServo.h>
+HLSCL hlscl;
+
+byte ID[2];
+s16 Speed[2];
+byte ACC[2];
+u16 Torque[2];
+
+void setup()
+{
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+  hlscl.WheelMode(1);//舵机ID1切换至恒速模式
+  hlscl.WheelMode(2);//舵机ID2切换至恒速模式
+  ID[0] = 1;//舵机ID1
+  ID[1] = 2;//舵机ID2
+  ACC[0] = 50;//加速度A=50*8.7deg/s^2
+  ACC[1] = 50;//加速度A=50*8.7deg/s^2
+  Torque[0] = 500;//最大扭矩电流T=500*6.5=3250mA
+  Torque[1] = 500;//最大扭矩电流T=500*6.5=3250mA
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=60*0.732=43.92rpm，并保持恒速运行，最大扭矩电流T=500*6.5=3250mA
+  Speed[0] = 60;
+  Speed[1] = 60;
+  hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
+  delay(5000);
+
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止运行
+  Speed[0] = 0;
+  Speed[1] = 0;
+  hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
+  delay(2000);
+  
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=-60*0.732=-43.92rpm，并保持恒速运行，最大扭矩电流T=500*6.5=3250mA
+  Speed[0] = -60;
+  Speed[1] = -60;
+  hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
+  delay(5000);
+
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止运行
+  Speed[0] = 0;
+  Speed[1] = 0;
+  hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
+  delay(2000);
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/WriteEle/WriteEle.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/WriteEle/WriteEle.ino
@@ -0,0 +1,31 @@
+#include <SCServo.h>
+
+HLSCL hlscl;
+
+void setup()
+{
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+  hlscl.EleMode(1);//舵机ID1切换至电机恒力模式
+}
+
+void loop()
+{
+  //舵机(ID1)以最大扭矩电流T=300*6.5=1950mA，正向旋转
+  hlscl.WriteEle(1, 300);
+  delay(5000);
+  
+  //舵机(ID1/ID2)以扭矩0停止旋转
+  hlscl.WriteEle(1, 0);
+  delay(2000);
+  
+  //舵机(ID1)以最大扭矩电流T=300*6.5=1950mA，反向旋转
+  hlscl.WriteEle(1, -300);
+  delay(5000);
+  
+  //舵机(ID1)以扭矩0停止旋转
+  hlscl.WriteEle(1, 0);
+  delay(2000);
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/WritePos/WritePos.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/WritePos/WritePos.ino
@@ -0,0 +1,22 @@
+#include <SCServo.h>
+
+HLSCL hlscl;
+
+void setup()
+{
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(ID1)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，最大扭矩电流T=500*6.5=3250mA，运行至P1=4095位置
+  hlscl.WritePosEx(1, 4095, 60, 50, 500);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(ID1)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，最大扭矩电流T=500*6.5=3250mA，运行至P0=0位置
+  hlscl.WritePosEx(1, 0, 60, 50, 500);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+}
--- a/jxbeye/lib/FTServo/examples/HLSCL/WriteSpe/WriteSpe.ino
+++ b/jxbeye/lib/FTServo/examples/HLSCL/WriteSpe/WriteSpe.ino
@@ -0,0 +1,31 @@
+#include <SCServo.h>
+
+HLSCL hlscl;
+
+void setup()
+{
+  //Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
+  Serial1.begin(1000000);//mega2560
+  hlscl.pSerial = &Serial1;
+  delay(1000);
+  hlscl.WheelMode(1);//舵机ID1切换至电机恒速模式
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=60*0.732=43.92rpm，并保持恒速正向旋转，最大扭矩电流T=500*6.5=3250mA
+  hlscl.WriteSpe(1, 60, 50, 500);
+  delay(5000);
+  
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止旋转
+  hlscl.WriteSpe(1, 0, 50, 500);
+  delay(2000);
+  
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=-60*0.732=-43.92rpm，并保持恒速反向旋转，最大扭矩电流T=500*6.5=3250mA
+  hlscl.WriteSpe(1, -60, 50, 500);
+  delay(5000);
+  
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止旋转
+  hlscl.WriteSpe(1, 0, 50, 500);
+  delay(2000);
+}
--- a/jxbeye/lib/FTServo/examples/SCSCL/Broadcast/Broadcast.ino
+++ b/jxbeye/lib/FTServo/examples/SCSCL/Broadcast/Broadcast.ino
@@ -0,0 +1,25 @@
+/*
+广播写例子在SCS15中测试通过，如果测试其它型号SCS系列舵机请更改合适的位置、速度与延时参数。
+*/
+
+#include <SCServo.h>
+
+SCSCL sc;
+
+void setup()
+{
+  Serial1.begin(1000000);
+  sc.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(广播)以最高速度V=1500*0.059=88.5rpm，运行至P1=1000位置
+  sc.WritePos(0xfe, 1000, 0, 1500);
+  delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
+  
+  //舵机(广播)以最高速度V=1500*0.059=88.5rpm，运行至P0=20位置
+  sc.WritePos(0xfe, 20, 0, 1500);
+  delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
+}
--- a/jxbeye/lib/FTServo/examples/SCSCL/FeedBack/FeedBack.ino
+++ b/jxbeye/lib/FTServo/examples/SCSCL/FeedBack/FeedBack.ino
@@ -0,0 +1,147 @@
+/*
+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。
+*/
+
+#include <SCServo.h>
+
+SCSCL sc;
+int LEDpin = 13;
+
+void setup()
+{
+  pinMode(LEDpin,OUTPUT);
+  digitalWrite(LEDpin, HIGH);
+  Serial1.begin(1000000);
+  Serial.begin(115200);
+  sc.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  int Pos;
+  int Speed;
+  int Load;
+  int Voltage;
+  int Temper;
+  int Move;
+  int Current;
+  sc.FeedBack(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Pos = sc.ReadPos(-1);
+    Speed = sc.ReadSpeed(-1);
+    Load = sc.ReadLoad(-1);
+    Voltage = sc.ReadVoltage(-1);
+    Temper = sc.ReadTemper(-1);
+    Move = sc.ReadMove(-1);
+    Current = sc.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{
+    digitalWrite(LEDpin, HIGH);
+    Serial.println("FeedBack err");
+    delay(500);
+  }
+  
+  Pos = sc.ReadPos(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo position:");
+    Serial.println(Pos, DEC);
+    delay(10);
+  }else{
+    Serial.println("read position err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);
+  }
+  
+  Voltage = sc.ReadVoltage(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Voltage:");
+    Serial.println(Voltage, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Voltage err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);
+  }
+  
+  Temper = sc.ReadTemper(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo temperature:");
+    Serial.println(Temper, DEC);
+    delay(10);
+  }else{
+    Serial.println("read temperature err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+
+  Speed = sc.ReadSpeed(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Speed:");
+    Serial.println(Speed, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Speed err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  
+  Load = sc.ReadLoad(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Load:");
+    Serial.println(Load, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Load err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  
+  Current = sc.ReadCurrent(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Current:");
+    Serial.println(Current, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Current err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+
+  Move = sc.ReadMove(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Move:");
+    Serial.println(Move, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Move err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  Serial.println();
+}
--- a/jxbeye/lib/FTServo/examples/SCSCL/Ping/Ping.ino
+++ b/jxbeye/lib/FTServo/examples/SCSCL/Ping/Ping.ino
@@ -0,0 +1,33 @@
+/*
+Ping指令测试,测试总线上相应ID舵机是否就绪,广播指令只适用于总线只有一个舵机情况
+*/
+
+#include <SCServo.h>
+
+SCSCL sc;
+
+int LEDpin = 13;
+void setup()
+{
+  pinMode(LEDpin,OUTPUT);
+  digitalWrite(LEDpin, HIGH);
+  Serial.begin(115200);
+  Serial1.begin(1000000);
+  sc.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  int ID = sc.Ping(1);
+  if(!sc.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo ID:");
+    Serial.println(ID, DEC);
+    delay(100);
+  }else{
+    Serial.println("Ping servo ID error!");
+    digitalWrite(LEDpin, HIGH);
+    delay(2000);
+  }
+}
--- a/jxbeye/lib/FTServo/examples/SCSCL/ProgramEprom/ProgramEprom.ino
+++ b/jxbeye/lib/FTServo/examples/SCSCL/ProgramEprom/ProgramEprom.ino
@@ -0,0 +1,28 @@
+/*
+舵机参数编程
+*/
+
+#include <SCServo.h>
+
+int LEDpin = 13;
+SCSCL sc;
+
+void setup()
+{
+  pinMode(LEDpin, OUTPUT);
+  Serial1.begin(1000000);
+  sc.pSerial = &Serial1;
+  delay(1000);
+  digitalWrite(LEDpin, LOW);
+  sc.unLockEprom(1);//打开EPROM保存功能
+  sc.writeByte(1, SCSCL_ID, 2);//ID
+  sc.writeWord(2, SCSCL_MIN_ANGLE_LIMIT_L, 20);
+  sc.writeWord(2, SCSCL_MAX_ANGLE_LIMIT_L, 1000);
+  sc.LockEprom(2);////关闭EPROM保存功能
+  digitalWrite(LEDpin, HIGH);
+}
+
+void loop()
+{
+
+}
--- a/jxbeye/lib/FTServo/examples/SCSCL/RegWritePos/RegWritePos.ino
+++ b/jxbeye/lib/FTServo/examples/SCSCL/RegWritePos/RegWritePos.ino
@@ -0,0 +1,29 @@
+/*
+异步写例子在SCS15中测试通过，如果测试其它型号SCS系列舵机请更改合适的位置、速度与延时参数。
+*/
+
+#include <SCServo.h>
+
+SCSCL sc;
+
+void setup()
+{
+  Serial1.begin(1000000);
+  sc.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以最高速度V=1500*0.059=88.5rpm，运行至P1=1000位置
+  sc.RegWritePos(1, 1000, 0, 1500);
+  sc.RegWritePos(2, 1000, 0, 1500);
+  sc.RegWriteAction();
+  delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
+  
+  //舵机(ID1/ID2)以最高速度V=1500*0.059=88.5rpm，运行至P0=20位置
+  sc.RegWritePos(1, 20, 0, 1500);
+  sc.RegWritePos(2, 20, 0, 1500);
+  sc.RegWriteAction();
+  delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
+}
--- a/jxbeye/lib/FTServo/examples/SCSCL/SyncWritePos/SyncWritePos.ino
+++ b/jxbeye/lib/FTServo/examples/SCSCL/SyncWritePos/SyncWritePos.ino
@@ -0,0 +1,37 @@
+/*
+同步写例子在SCS15中测试通过，如果测试其它型号SCS系列舵机请更改合适的位置、速度与延时参数。
+*/
+
+#include <SCServo.h>
+
+SCSCL sc;
+
+byte ID[2];
+u16 Position[2];
+u16 Speed[2];
+
+void setup()
+{
+  Serial1.begin(1000000);
+  sc.pSerial = &Serial1;
+  delay(1000);
+  ID[0] = 1;//舵机ID1
+  ID[1] = 2;//舵机ID2
+  Speed[0] = 1500;//最高速度V=1500*0.059=88.5rpm
+  Speed[1] = 1500;//最高速度V=1500*0.059=88.5rpm
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以最高速度V=1500*0.059=88.5rpm，运行至P1=1000位置
+  Position[0] = 1000;
+  Position[1] = 1000;
+  sc.SyncWritePos(ID, 2, Position, 0, Speed);
+  delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
+
+  //舵机(ID1/ID2)以最高速度V=1500*0.059=88.5rpm，运行至P0=20位置
+  Position[0] = 20;
+  Position[1] = 20;
+  sc.SyncWritePos(ID, 2, Position, 0, Speed);
+  delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
+}
--- a/jxbeye/lib/FTServo/examples/SCSCL/WritePWM/WritePWM.ino
+++ b/jxbeye/lib/FTServo/examples/SCSCL/WritePWM/WritePWM.ino
@@ -0,0 +1,34 @@
+/*
+电机模式例子
+*/
+
+#include <SCServo.h>
+
+SCSCL sc;
+
+void setup()
+{
+  Serial1.begin(1000000);
+  sc.pSerial = &Serial1;
+  delay(1000);
+  sc.PWMMode(1);//舵机切换到PWM开环调速度模式
+}
+
+void loop()
+{
+  //舵机(ID1)以最大50%扭矩正向旋转
+  sc.WritePWM(1, 500);
+  delay(2000);
+  
+  //舵机(ID1)停止旋转
+  sc.WritePWM(1, 0);
+  delay(2000);
+  
+  //舵机(ID1)以最大50%扭矩反向旋转
+  sc.WritePWM(1, -500);
+  delay(2000);
+  
+  //舵机(ID1)停止旋转
+  sc.WritePWM(1,0);
+  delay(2000);
+}
--- a/jxbeye/lib/FTServo/examples/SCSCL/WritePos/WritePos.ino
+++ b/jxbeye/lib/FTServo/examples/SCSCL/WritePos/WritePos.ino
@@ -0,0 +1,25 @@
+/*
+普通写例子在SCS15中测试通过，如果测试其它型号SCS系列舵机请更改合适的位置、速度与延时参数。
+*/
+
+#include <SCServo.h>
+
+SCSCL sc;
+
+void setup()
+{
+  Serial1.begin(1000000);
+  sc.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(ID1)以最高速度V=1500*0.059=88.5rpm，运行至P1=1000位置
+  sc.WritePos(1, 1000, 0, 1500);
+  delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
+  
+  //舵机(ID1)以最高速度V=1500*0.059=88.5rpm，运行至P0=20位置
+  sc.WritePos(1, 20, 0, 1500);
+  delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/Broadcast/Broadcast.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/Broadcast/Broadcast.ino
@@ -0,0 +1,22 @@
+#include <SCServo.h>
+
+SMS_STS sms_sts;
+
+void setup()
+{
+  //Serial1.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(广播)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P1=4095位置
+  sms_sts.WritePosEx(0xfe, 4095, 60, 50);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(广播)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P0=0位置
+  sms_sts.WritePosEx(0xfe, 0, 60, 50);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/CalibrationOfs/CalibrationOfs.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/CalibrationOfs/CalibrationOfs.ino
@@ -0,0 +1,25 @@
+/*
+中位校准例子
+*/
+
+#include <SCServo.h>
+
+int LEDpin = 13;
+SMS_STS sm_st;
+
+void setup()
+{
+  pinMode(LEDpin, OUTPUT);
+  //Serial1.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sm_st.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  digitalWrite(LEDpin, LOW);
+  sm_st.CalibrationOfs(1);
+  digitalWrite(LEDpin, HIGH);
+  while(1);
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/FeedBack/FeedBack.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/FeedBack/FeedBack.ino
@@ -0,0 +1,148 @@
+/*
+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。
+*/
+
+#include <SCServo.h>
+
+SMS_STS sms_sts;
+int LEDpin = 13;
+
+void setup()
+{
+  pinMode(LEDpin,OUTPUT);
+  digitalWrite(LEDpin, HIGH);
+  //Serial1.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  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;
+  sms_sts.FeedBack(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    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{
+    digitalWrite(LEDpin, HIGH);
+    Serial.println("FeedBack err");
+    delay(500);
+  }
+  
+  Pos = sms_sts.ReadPos(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo position:");
+    Serial.println(Pos, DEC);
+    delay(10);
+  }else{
+    Serial.println("read position err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);
+  }
+  
+  Voltage = sms_sts.ReadVoltage(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Voltage:");
+    Serial.println(Voltage, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Voltage err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);
+  }
+  
+  Temper = sms_sts.ReadTemper(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo temperature:");
+    Serial.println(Temper, DEC);
+    delay(10);
+  }else{
+    Serial.println("read temperature err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+
+  Speed = sms_sts.ReadSpeed(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Speed:");
+    Serial.println(Speed, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Speed err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  
+  Load = sms_sts.ReadLoad(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Load:");
+    Serial.println(Load, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Load err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  
+  Current = sms_sts.ReadCurrent(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Current:");
+    Serial.println(Current, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Current err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+
+  Move = sms_sts.ReadMove(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo Move:");
+    Serial.println(Move, DEC);
+    delay(10);
+  }else{
+    Serial.println("read Move err");
+    digitalWrite(LEDpin, HIGH);
+    delay(500);    
+  }
+  Serial.println();
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/Ping/Ping.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/Ping/Ping.ino
@@ -0,0 +1,33 @@
+/*
+Ping指令测试,测试总线上相应ID舵机是否就绪,广播指令只适用于总线只有一个舵机情况
+*/
+
+#include <SCServo.h>
+
+SMS_STS sms_sts;
+
+int LEDpin = 13;
+void setup()
+{
+  pinMode(LEDpin,OUTPUT);
+  digitalWrite(LEDpin, HIGH);
+  Serial.begin(115200);
+  Serial1.begin(1000000);
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  int ID = sms_sts.Ping(1);
+  if(!sms_sts.getLastError()){
+    digitalWrite(LEDpin, LOW);
+    Serial.print("Servo ID:");
+    Serial.println(ID, DEC);
+    delay(100);
+  }else{
+    Serial.println("Ping servo ID error!");
+    digitalWrite(LEDpin, HIGH);
+    delay(2000);
+  }
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/ProgramEprom/ProgramEprom.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/ProgramEprom/ProgramEprom.ino
@@ -0,0 +1,27 @@
+/*
+舵机参数编程
+*/
+
+#include <SCServo.h>
+
+int LEDpin = 13;
+SMS_STS sms_sts;
+
+void setup()
+{
+  pinMode(LEDpin, OUTPUT);
+  //Serial1.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+  digitalWrite(LEDpin, LOW);
+  sms_sts.unLockEprom(1);//打开EPROM保存功能
+  sms_sts.writeByte(1, SMS_STS_ID, 2);//ID
+  sms_sts.LockEprom(2);//关闭EPROM保存功能
+  digitalWrite(LEDpin, HIGH);
+}
+
+void loop()
+{
+
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/RegWritePos/RegWritePos.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/RegWritePos/RegWritePos.ino
@@ -0,0 +1,26 @@
+#include <SCServo.h>
+
+SMS_STS sms_sts;
+
+void setup()
+{
+  //Serial1.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P1=4095位置
+  sms_sts.RegWritePosEx(1, 4095, 60, 50);
+  sms_sts.RegWritePosEx(2, 4095, 60, 50);
+  sms_sts.RegWriteAction();
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(ID1/ID2)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P0=0位置
+  sms_sts.RegWritePosEx(1, 0, 60, 50);
+  sms_sts.RegWritePosEx(2, 0, 60, 50);
+  sms_sts.RegWriteAction();
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/SyncRead/SyncRead.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/SyncRead/SyncRead.ino
@@ -0,0 +1,45 @@
+/*
+同步读指令，回读ID1与ID2两个舵机的位置与速度信息
+*/
+
+#include <SCServo.h>
+
+SMS_STS sms_sts;
+
+uint8_t ID[] = {1, 2};
+uint8_t rxPacket[4];
+int16_t Position;
+int16_t Speed;
+
+void setup()
+{
+  Serial.begin(115200);
+  //Serial1.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  sms_sts.syncReadBegin(sizeof(ID), sizeof(rxPacket), 5);//10*10*2=200us<5ms
+  delay(1000);
+}
+
+void loop()
+{  
+  sms_sts.syncReadPacketTx(ID, sizeof(ID), SMS_STS_PRESENT_POSITION_L, sizeof(rxPacket));//同步读指令包发送
+  for(uint8_t i=0; i<sizeof(ID); i++){
+    //接收ID[i]同步读返回包
+    if(!sms_sts.syncReadPacketRx(ID[i], rxPacket)){
+     Serial.print("ID:");
+     Serial.println(ID[i]);
+     Serial.println("sync read error!");
+     continue;//接收解码失败
+    }
+    Position = sms_sts.syncReadRxPacketToWrod(15);//解码两个字节 bit15为方向位,参数=0表示无方向位
+    Speed = sms_sts.syncReadRxPacketToWrod(15);//解码两个字节 bit15为方向位,参数=0表示无方向位
+    Serial.print("ID:");
+    Serial.println(ID[i]);
+    Serial.print("Position:");
+    Serial.println(Position);
+    Serial.print("Speed:");
+    Serial.println(Speed);
+  }
+  delay(10);
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/SyncWritePos/SyncWritePos.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/SyncWritePos/SyncWritePos.ino
@@ -0,0 +1,36 @@
+#include <SCServo.h>
+SMS_STS sms_sts;
+
+byte ID[2];
+s16 Position[2];
+u16 Speed[2];
+byte ACC[2];
+
+void setup()
+{
+  //Serial1.begin(115200);//sms_stss舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+  ID[0] = 1;//舵机ID1
+  ID[1] = 2;//舵机ID2
+  Speed[0] = 60;//最高速度V=60*0.732=43.92rpm
+  Speed[1] = 60;//最高速度V=60*0.732=43.92rpm
+  ACC[0] = 50;//加速度A=50*8.7deg/s^2
+  ACC[1] = 50;//加速度A=50*8.7deg/s^2
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P1=4095位置
+  Position[0] = 4095;
+  Position[1] = 4095;
+  sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(ID1/ID2)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P0=0位置
+  Position[0] = 0;
+  Position[1] = 0;
+  sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/SyncWriteSpe/SyncWriteSpe.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/SyncWriteSpe/SyncWriteSpe.ino
@@ -0,0 +1,47 @@
+#include <SCServo.h>
+SMS_STS sms_sts;
+
+byte ID[2];
+s16 Speed[2];
+byte ACC[2];
+
+void setup()
+{
+  //Serial1.begin(115200);//sms_stss舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+  sms_sts.WheelMode(1);//舵机ID1切换至恒速模式
+  sms_sts.WheelMode(2);//舵机ID2切换至恒速模式
+  ID[0] = 1;//舵机ID1
+  ID[1] = 2;//舵机ID2
+  ACC[0] = 50;//加速度A=50*8.7deg/s^2
+  ACC[1] = 50;//加速度A=50*8.7deg/s^2
+}
+
+void loop()
+{
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=60*0.732=43.92rpm，并保持恒速正向旋转
+  Speed[0] = 60;
+  Speed[1] = 60;
+  sms_sts.SyncWriteSpe(ID, 2, Speed, ACC);
+  delay(5000);
+
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止旋转
+  Speed[0] = 0;
+  Speed[1] = 0;
+  sms_sts.SyncWriteSpe(ID, 2, Speed, ACC);
+  delay(2000);
+  
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=-60*0.732=-43.92rpm，并保持恒速反向旋转
+  Speed[0] = -60;
+  Speed[1] = -60;
+  sms_sts.SyncWriteSpe(ID, 2, Speed, ACC);
+  delay(5000);
+
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止运行
+  Speed[0] = 0;
+  Speed[1] = 0;
+  sms_sts.SyncWriteSpe(ID, 2, Speed, ACC);
+  delay(2000);
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/WritePos/WritePos.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/WritePos/WritePos.ino
@@ -0,0 +1,22 @@
+#include <SCServo.h>
+
+SMS_STS sms_sts;
+
+void setup()
+{
+  //Serial1.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+}
+
+void loop()
+{
+  //舵机(ID1)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P1=4095位置
+  sms_sts.WritePosEx(1, 4095, 2400, 50);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+
+  //舵机(ID1)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P0=0位置
+  sms_sts.WritePosEx(1, 0, 2400, 50);
+  delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
+}
--- a/jxbeye/lib/FTServo/examples/SMS_STS/WriteSpe/WriteSpe.ino
+++ b/jxbeye/lib/FTServo/examples/SMS_STS/WriteSpe/WriteSpe.ino
@@ -0,0 +1,31 @@
+#include <SCServo.h>
+
+SMS_STS sms_sts;
+
+void setup()
+{
+  //Serial1.begin(115200);//sms舵机波特率115200
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+  delay(1000);
+  sms_sts.WheelMode(1);//舵机ID1切换至电机恒速模式
+}
+
+void loop()
+{
+  //舵机(ID1)以加速度A=50*8.7deg/s^2，加速至最高速度V=60*0.732=43.92rpm，并保持恒速正向旋转
+  sms_sts.WriteSpe(1, 60, 50);
+  delay(5000);
+  
+  //舵机(ID1)以加速度A=50*8.7deg/s^2，减速至速度0停止旋转
+  sms_sts.WriteSpe(1, 0, 50);
+  delay(2000);
+  
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，加速至最高速度V=-60*0.732=-43.92rpm，并保持恒速反向旋转
+  sms_sts.WriteSpe(1, -60, 50);
+  delay(5000);
+  
+  //舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止旋转
+  sms_sts.WriteSpe(1, 0, 50);
+  delay(2000);
+}
--- a/jxbeye/lib/FTServo/library.properties
+++ b/jxbeye/lib/FTServo/library.properties
@@ -0,0 +1,11 @@
+# see https://arduino.github.io/arduino-cli/1.0/library-specification/#library-metadata
+
+name=FTServo
+version=2.0.0
+author=ftservo
+maintainer=FEETECH <github.com/ftservo>
+sentence=FEETECH BUS Servo library for Arduino and ESP32
+paragraph=This library is compatible with all series of FEETECH BUS Servo
+category=Other
+url=https://github.com/ftservo/FTServo_Arduino
+architectures=*
--- a/jxbeye/lib/FTServo/src/HLSCL.cpp
+++ b/jxbeye/lib/FTServo/src/HLSCL.cpp
@@ -0,0 +1,260 @@
+/*
+ * HLSCL.cpp
+ * 飞特HTS/HLS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#include "HLSCL.h"
+
+HLSCL::HLSCL()
+{
+	End = 0;
+}
+
+HLSCL::HLSCL(u8 End):SCSerial(End)
+{
+}
+
+HLSCL::HLSCL(u8 End, u8 Level):SCSerial(End, Level)
+{
+}
+
+int HLSCL::WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC, u16 Torque)
+{
+	if(Position<0){
+		Position = -Position;
+		Position |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, Position);
+	Host2SCS(bBuf+3, bBuf+4, Torque);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return genWrite(ID, HLSCL_ACC, bBuf, 7);
+}
+
+int HLSCL::RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC, u16 Torque)
+{
+	if(Position<0){
+		Position = -Position;
+		Position |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, Position);
+	Host2SCS(bBuf+3, bBuf+4, Torque);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return regWrite(ID, HLSCL_ACC, bBuf, 7);
+}
+
+void HLSCL::SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[], u16 Torque[])
+{
+    u8 offbuf[7*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		if(Position[i]<0){
+			Position[i] = -Position[i];
+			Position[i] |= (1<<15);
+		}
+		if(ACC){
+			offbuf[i*7] = ACC[i];
+		}else{
+			offbuf[i*7] = 0;
+		}
+        Host2SCS(offbuf+i*7+1, offbuf+i*7+2, Position[i]);
+        Host2SCS(offbuf+i*7+3, offbuf+i*7+4, Torque[i]);
+        Host2SCS(offbuf+i*7+5, offbuf+i*7+6, Speed[i]);
+    }
+    syncWrite(ID, IDN, HLSCL_ACC, offbuf, 7);
+}
+
+void HLSCL::SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[], u16 Torque[])
+{
+    u8 offbuf[7*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		if(Speed[i]<0){
+			Speed[i] = -Speed[i];
+			Speed[i] |= (1<<15);
+		}
+		if(ACC){
+			offbuf[i*7] = ACC[i];
+		}else{
+			offbuf[i*7] = 0;
+		}
+        Host2SCS(offbuf+i*7+1, offbuf+i*7+2, 0);
+        Host2SCS(offbuf+i*7+3, offbuf+i*7+4, Torque[i]);
+        Host2SCS(offbuf+i*7+5, offbuf+i*7+6, Speed[i]);
+    }
+    syncWrite(ID, IDN, HLSCL_ACC, offbuf, 7);
+}
+
+int HLSCL::WheelMode(u8 ID)
+{
+	return writeByte(ID, HLSCL_MODE, 1);		
+}
+
+int HLSCL::EleMode(u8 ID)
+{
+	return writeByte(ID, HLSCL_MODE, 2);		
+}
+
+int HLSCL::WriteSpe(u8 ID, s16 Speed, u8 ACC, u16 Torque)
+{
+	if(Speed<0){
+		Speed = -Speed;
+		Speed |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, 0);
+	Host2SCS(bBuf+3, bBuf+4, Torque);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return genWrite(ID, HLSCL_ACC, bBuf, 7);
+}
+
+int HLSCL::WriteEle(u8 ID, s16 Torque)
+{
+	if(Torque<0){
+		Torque = -Torque;
+		Torque |= (1<<15);
+	}
+	return writeWord(ID, HLSCL_GOAL_TORQUE_L, Torque);
+}
+
+int HLSCL::EnableTorque(u8 ID, u8 Enable)
+{
+	return writeByte(ID, HLSCL_TORQUE_ENABLE, Enable);
+}
+
+int HLSCL::unLockEprom(u8 ID)
+{
+	EnableTorque(ID, 0);
+	return writeByte(ID, HLSCL_LOCK, 0);
+}
+
+int HLSCL::LockEprom(u8 ID)
+{
+	return writeByte(ID, HLSCL_LOCK, 1);
+}
+
+int HLSCL::CalibrationOfs(u8 ID)
+{
+	EnableTorque(ID, 0);
+	unLockEprom(ID);
+	return Recal(ID);
+}
+
+int HLSCL::FeedBack(int ID)
+{
+	int nLen = Read(ID, HLSCL_PRESENT_POSITION_L, Mem, sizeof(Mem));
+	if(nLen!=sizeof(Mem)){
+		return -1;
+	}
+	return nLen;
+}
+
+int HLSCL::ReadPos(int ID)
+{
+	int Pos = -1;
+	if(ID==-1){
+		Pos = Mem[HLSCL_PRESENT_POSITION_H-HLSCL_PRESENT_POSITION_L];
+		Pos <<= 8;
+		Pos |= Mem[HLSCL_PRESENT_POSITION_L-HLSCL_PRESENT_POSITION_L];
+	}else{
+		Pos = readWord(ID, HLSCL_PRESENT_POSITION_L);
+	}
+	if(Pos&(1<<15)){
+		Pos = -(Pos&~(1<<15));
+	}
+	
+	return Pos;
+}
+
+int HLSCL::ReadSpeed(int ID)
+{
+	int Speed = -1;
+	if(ID==-1){
+		Speed = Mem[HLSCL_PRESENT_SPEED_H-HLSCL_PRESENT_POSITION_L];
+		Speed <<= 8;
+		Speed |= Mem[HLSCL_PRESENT_SPEED_L-HLSCL_PRESENT_POSITION_L];
+	}else{
+		Speed = readWord(ID, HLSCL_PRESENT_SPEED_L);
+	}
+	if(Speed&(1<<15)){
+		Speed = -(Speed&~(1<<15));
+	}	
+	return Speed;
+}
+
+int HLSCL::ReadLoad(int ID)
+{
+	int Load = -1;
+	if(ID==-1){
+		Load = Mem[HLSCL_PRESENT_LOAD_H-HLSCL_PRESENT_POSITION_L];
+		Load <<= 8;
+		Load |= Mem[HLSCL_PRESENT_LOAD_L-HLSCL_PRESENT_POSITION_L];
+	}else{
+		Load = readWord(ID, HLSCL_PRESENT_LOAD_L);
+	}
+	if(Load&(1<<10)){
+		Load = -(Load&~(1<<10));
+	}
+	return Load;
+}
+
+int HLSCL::ReadVoltage(int ID)
+{	
+	int Voltage = -1;
+	if(ID==-1){
+		Voltage = Mem[HLSCL_PRESENT_VOLTAGE-HLSCL_PRESENT_POSITION_L];	
+	}else{
+		Voltage = readByte(ID, HLSCL_PRESENT_VOLTAGE);
+	}
+	return Voltage;
+}
+
+int HLSCL::ReadTemper(int ID)
+{	
+	int Temper = -1;
+	if(ID==-1){
+		Temper = Mem[HLSCL_PRESENT_TEMPERATURE-HLSCL_PRESENT_POSITION_L];	
+	}else{
+		Temper = readByte(ID, HLSCL_PRESENT_TEMPERATURE);
+	}
+	return Temper;
+}
+
+int HLSCL::ReadMove(int ID)
+{
+	int Move = -1;
+	if(ID==-1){
+		Move = Mem[HLSCL_MOVING-HLSCL_PRESENT_POSITION_L];	
+	}else{
+		Move = readByte(ID, HLSCL_MOVING);
+	}
+	return Move;
+}
+
+int HLSCL::ReadCurrent(int ID)
+{
+	int Current = -1;
+	if(ID==-1){
+		Current = Mem[HLSCL_PRESENT_CURRENT_H-HLSCL_PRESENT_POSITION_L];
+		Current <<= 8;
+		Current |= Mem[HLSCL_PRESENT_CURRENT_L-HLSCL_PRESENT_POSITION_L];
+	}else{
+		Current = readWord(ID, HLSCL_PRESENT_CURRENT_L);
+	}
+	if(Current&(1<<15)){
+		Current = -(Current&~(1<<15));
+	}	
+	return Current;
+}
+
+int HLSCL::ServoMode(u8 ID)
+{
+	return writeByte(ID, HLSCL_MODE, 0);		
+}
--- a/jxbeye/lib/FTServo/src/HLSCL.h
+++ b/jxbeye/lib/FTServo/src/HLSCL.h
@@ -0,0 +1,89 @@
+/*
+ * HLSCL.h
+ * 飞特HLS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#ifndef _HLSCL_H
+#define _HLSCL_H
+
+//内存表定义
+//-------EPROM(只读)--------
+#define HLSCL_MODEL_L 3
+#define HLSCL_MODEL_H 4
+
+//-------EPROM(读写)--------
+#define HLSCL_ID 5
+#define HLSCL_BAUD_RATE 6
+#define HLSCL_SECOND_ID 7
+#define HLSCL_MIN_ANGLE_LIMIT_L 9
+#define HLSCL_MIN_ANGLE_LIMIT_H 10
+#define HLSCL_MAX_ANGLE_LIMIT_L 11
+#define HLSCL_MAX_ANGLE_LIMIT_H 12
+#define HLSCL_CW_DEAD 26
+#define HLSCL_CCW_DEAD 27
+#define HLSCL_OFS_L 31
+#define HLSCL_OFS_H 32
+#define HLSCL_MODE 33
+
+//-------SRAM(读写)--------
+#define HLSCL_TORQUE_ENABLE 40
+#define HLSCL_ACC 41
+#define HLSCL_GOAL_POSITION_L 42
+#define HLSCL_GOAL_POSITION_H 43
+#define HLSCL_GOAL_TORQUE_L 44
+#define HLSCL_GOAL_TORQUE_H 45
+#define HLSCL_GOAL_SPEED_L 46
+#define HLSCL_GOAL_SPEED_H 47
+#define HLSCL_TORQUE_LIMIT_L 48
+#define HLSCL_TORQUE_LIMIT_H 49
+#define HLSCL_LOCK 55
+
+//-------SRAM(只读)--------
+#define HLSCL_PRESENT_POSITION_L 56
+#define HLSCL_PRESENT_POSITION_H 57
+#define HLSCL_PRESENT_SPEED_L 58
+#define HLSCL_PRESENT_SPEED_H 59
+#define HLSCL_PRESENT_LOAD_L 60
+#define HLSCL_PRESENT_LOAD_H 61
+#define HLSCL_PRESENT_VOLTAGE 62
+#define HLSCL_PRESENT_TEMPERATURE 63
+#define HLSCL_MOVING 66
+#define HLSCL_PRESENT_CURRENT_L 69
+#define HLSCL_PRESENT_CURRENT_H 70
+
+#include "SCSerial.h"
+
+class HLSCL : public SCSerial
+{
+public:
+	HLSCL();
+	HLSCL(u8 End);
+	HLSCL(u8 End, u8 Level);
+	int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0, u16 Torque = 0);//普通写单个舵机位置指令
+	int RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0, u16 Torque = 0);//异步写单个舵机位置指令(RegWriteAction生效)
+	void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[], u16 Torque[]);//同步写多个舵机位置指令
+	void SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[], u16 Torque[]);//同步写多个舵机速度指令
+	int ServoMode(u8 ID);//Servo模式
+	int WheelMode(u8 ID);//恒速模式
+	int EleMode(u8 ID);//恒力模式
+	int WriteSpe(u8 ID, s16 Speed, u8 ACC = 0, u16 Torque = 0);//恒速模式控制指令
+	int WriteEle(u8 ID, s16 Torque);//恒力模式控制指令
+	int EnableTorque(u8 ID, u8 Enable);//扭力控制指令
+	int unLockEprom(u8 ID);//eprom解锁
+	int LockEprom(u8 ID);//eprom加锁
+	int CalibrationOfs(u8 ID);//中位校准
+	int FeedBack(int ID);//反馈舵机信息
+	int ReadPos(int ID);//读位置
+	int ReadSpeed(int ID);//读速度
+	int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
+	int ReadVoltage(int ID);//读电压
+	int ReadTemper(int ID);//读温度
+	int ReadMove(int ID);//读移动状态
+	int ReadCurrent(int ID);//读电流
+private:
+	u8 Mem[HLSCL_PRESENT_CURRENT_H-HLSCL_PRESENT_POSITION_L+1];
+};
+
+#endif
--- a/jxbeye/lib/FTServo/src/INST.h
+++ b/jxbeye/lib/FTServo/src/INST.h
@@ -0,0 +1,51 @@
+/*
+ * INST.h
+ * 飞特串行舵机协议指令定义
+ * 日期: 2024.11.24
+ * 作者: txl
+ */
+
+#ifndef _INST_H
+#define _INST_H
+
+typedef	char s8;
+typedef	unsigned char u8;	
+typedef	unsigned short u16;	
+typedef	short s16;
+typedef	unsigned long u32;	
+typedef	long s32;
+
+enum SCS_ERR_LIST
+{
+    ERR_NO_REPLY = 1,
+    ERR_CRC_CMP  = 2,
+    ERR_SLAVE_ID = 3,
+	ERR_BUFF_LEN = 4,
+};
+
+#define INST_PING 0x01
+#define INST_READ 0x02
+#define INST_WRITE 0x03
+#define INST_REG_WRITE 0x04
+#define INST_REG_ACTION 0x05
+#define INST_SYNC_READ 0x82
+#define INST_SYNC_WRITE 0x83
+#define INST_RECOVERY 0x06
+#define INST_RESET 0x0A
+#define INST_CAL 0x0B
+
+//波特率定义
+#define	_1M 0
+#define	_0_5M 1
+#define	_250K 2
+#define	_128K 3
+#define	_115200 4
+#define	_76800 5
+#define	_57600 6
+#define	_38400 7
+#define	_19200 8
+#define	_14400 9
+#define	_9600 10
+#define	_4800 11
+
+#endif
--- a/jxbeye/lib/FTServo/src/SCS.cpp
+++ b/jxbeye/lib/FTServo/src/SCS.cpp
@@ -0,0 +1,450 @@
+/*
+ * SCS.cpp
+ * 飞特串行舵机通信层协议程序
+ * 日期: 2024.12.21
+ * 作者: txl
+ */
+
+#include <stddef.h>
+#include "SCS.h"
+
+SCS::SCS()
+{
+	Level = 1;//除广播指令所有指令返回应答
+	u8Status = 0;
+}
+
+SCS::SCS(u8 End)
+{
+	Level = 1;
+	this->End = End;
+	u8Status = 0;
+}
+
+SCS::SCS(u8 End, u8 Level)
+{
+	this->Level = Level;
+	this->End = End;
+	u8Status = 0;
+}
+
+//1个16位数拆分为2个8位数
+//DataL为低位，DataH为高位
+void SCS::Host2SCS(u8 *DataL, u8* DataH, u16 Data)
+{
+	if(End){
+		*DataL = (Data>>8);
+		*DataH = (Data&0xff);
+	}else{
+		*DataH = (Data>>8);
+		*DataL = (Data&0xff);
+	}
+}
+
+//2个8位数组合为1个16位数
+//DataL为低位，DataH为高位
+u16 SCS::SCS2Host(u8 DataL, u8 DataH)
+{
+	u16 Data;
+	if(End){
+		Data = DataL;
+		Data<<=8;
+		Data |= DataH;
+	}else{
+		Data = DataH;
+		Data<<=8;
+		Data |= DataL;
+	}
+	return Data;
+}
+
+void SCS::writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun)
+{
+	u8 msgLen = 2;
+	u8 bBuf[6];
+	u8 CheckSum = 0;
+	bBuf[0] = 0xff;
+	bBuf[1] = 0xff;
+	bBuf[2] = ID;
+	bBuf[4] = Fun;
+	if(nDat){
+		msgLen += nLen + 1;
+		bBuf[3] = msgLen;
+		bBuf[5] = MemAddr;
+		writeSCS(bBuf, 6);
+		
+	}else{
+		bBuf[3] = msgLen;
+		writeSCS(bBuf, 5);
+	}
+	CheckSum = ID + msgLen + Fun + MemAddr;
+	u8 i = 0;
+	if(nDat){
+		for(i=0; i<nLen; i++){
+			CheckSum += nDat[i];
+		}
+		writeSCS(nDat, nLen);
+	}
+	writeSCS(~CheckSum);
+}
+
+//普通写指令
+//舵机ID，MemAddr内存表地址，写入数据，写入长度
+int SCS::genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen)
+{
+	rFlushSCS();
+	writeBuf(ID, MemAddr, nDat, nLen, INST_WRITE);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+//异步写指令
+//舵机ID，MemAddr内存表地址，写入数据，写入长度
+int SCS::regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen)
+{
+	rFlushSCS();
+	writeBuf(ID, MemAddr, nDat, nLen, INST_REG_WRITE);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+//异步写执行指令
+//舵机ID
+int SCS::RegWriteAction(u8 ID)
+{
+	rFlushSCS();
+	writeBuf(ID, 0, NULL, 0, INST_REG_ACTION);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+//同步写指令
+//舵机ID[]数组，IDN数组长度，MemAddr内存表地址，写入数据，写入长度
+void SCS::syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen)
+{
+	rFlushSCS();
+	u8 mesLen = ((nLen+1)*IDN+4);
+	u8 Sum = 0;
+	u8 bBuf[7];
+	bBuf[0] = 0xff;
+	bBuf[1] = 0xff;
+	bBuf[2] = 0xfe;
+	bBuf[3] = mesLen;
+	bBuf[4] = INST_SYNC_WRITE;
+	bBuf[5] = MemAddr;
+	bBuf[6] = nLen;
+	writeSCS(bBuf, 7);
+
+	Sum = 0xfe + mesLen + INST_SYNC_WRITE + MemAddr + nLen;
+	u8 i, j;
+	for(i=0; i<IDN; i++){
+		writeSCS(ID[i]);
+		writeSCS(nDat+i*nLen, nLen);
+		Sum += ID[i];
+		for(j=0; j<nLen; j++){
+			Sum += nDat[i*nLen+j];
+		}
+	}
+	writeSCS(~Sum);
+	wFlushSCS();
+}
+
+int SCS::writeByte(u8 ID, u8 MemAddr, u8 bDat)
+{
+	rFlushSCS();
+	writeBuf(ID, MemAddr, &bDat, 1, INST_WRITE);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+int SCS::writeWord(u8 ID, u8 MemAddr, u16 wDat)
+{
+	u8 bBuf[2];
+	Host2SCS(bBuf+0, bBuf+1, wDat);
+	rFlushSCS();
+	writeBuf(ID, MemAddr, bBuf, 2, INST_WRITE);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+//读指令
+//舵机ID，MemAddr内存表地址，返回数据nData，数据长度nLen
+int SCS::Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen)
+{
+	rFlushSCS();
+	writeBuf(ID, MemAddr, &nLen, 1, INST_READ);
+	wFlushSCS();
+	u8Error = 0;
+	if(!checkHead()){
+		u8Error = ERR_NO_REPLY;
+		return 0;
+	}
+	u8 bBuf[4];
+	u8Status = 0;
+	if(readSCS(bBuf, 3)!=3){
+		u8Error = ERR_NO_REPLY;
+		return 0;
+	}
+	if(bBuf[0]!=ID && ID!=0xfe){
+		u8Error = ERR_SLAVE_ID;
+		return 0;
+	}
+	if(bBuf[1]!=(nLen+2)){
+		u8Error = ERR_BUFF_LEN;
+		return 0;
+	}
+	int Size = readSCS(nData, nLen);
+	if(Size!=nLen){
+		u8Error = ERR_NO_REPLY;
+		return 0;
+	}
+	if(readSCS(bBuf+3, 1)!=1){
+		u8Error = ERR_NO_REPLY;
+		return 0;
+	}
+	u8 calSum = bBuf[0]+bBuf[1]+bBuf[2];
+	u8 i;
+	for(i=0; i<Size; i++){
+		calSum += nData[i];
+	}
+	calSum = ~calSum;
+	if(calSum!=bBuf[3]){
+		u8Error = ERR_CRC_CMP;
+		return 0;
+	}
+	u8Status = bBuf[2];
+	return Size;
+}
+
+//读1字节，超时返回-1
+int SCS::readByte(u8 ID, u8 MemAddr)
+{
+	u8 bDat;
+	int Size = Read(ID, MemAddr, &bDat, 1);
+	if(Size!=1){
+		return -1;
+	}else{
+		return bDat;
+	}
+}
+
+//读2字节，超时返回-1
+int SCS::readWord(u8 ID, u8 MemAddr)
+{	
+	u8 nDat[2];
+	int Size;
+	u16 wDat;
+	Size = Read(ID, MemAddr, nDat, 2);
+	if(Size!=2)
+		return -1;
+	wDat = SCS2Host(nDat[0], nDat[1]);
+	return wDat;
+}
+
+//Ping指令，返回舵机ID，超时返回-1
+int	SCS::Ping(u8 ID)
+{
+	rFlushSCS();
+	writeBuf(ID, 0, NULL, 0, INST_PING);
+	wFlushSCS();
+	u8Status = 0;
+	if(!checkHead()){
+		u8Error = ERR_NO_REPLY;
+		return -1;
+	}
+	u8 bBuf[4];
+	u8Error = 0;
+	if(readSCS(bBuf, 4)!=4){
+		u8Error = ERR_NO_REPLY;
+		return -1;
+	}
+	if(bBuf[0]!=ID && ID!=0xfe){
+		u8Error = ERR_SLAVE_ID;
+		return -1;
+	}
+	if(bBuf[1]!=2){
+		u8Error = ERR_BUFF_LEN;
+		return -1;
+	}
+	u8 calSum = ~(bBuf[0]+bBuf[1]+bBuf[2]);
+	if(calSum!=bBuf[3]){
+		u8Error = ERR_CRC_CMP;
+		return -1;			
+	}
+	u8Status = bBuf[2];
+	return bBuf[0];
+}
+
+int SCS::checkHead()
+{
+	u8 bDat;
+	u8 bBuf[] = {0, 0};
+	u8 Cnt = 0;
+	while(1){
+		if(!readSCS(&bDat, 1)){
+			return 0;
+		}
+		bBuf[1] = bBuf[0];
+		bBuf[0] = bDat;
+		if(bBuf[0]==0xff && bBuf[1]==0xff){
+			break;
+		}
+		Cnt++;
+		if(Cnt>10){
+			return 0;
+		}
+	}
+	return 1;
+}
+
+int	SCS::Ack(u8 ID)
+{
+	u8Error = 0;
+	if(ID!=0xfe && Level){
+		if(!checkHead()){
+			u8Error = ERR_NO_REPLY;
+			return 0;
+		}
+		u8Status = 0;
+		u8 bBuf[4];
+		if(readSCS(bBuf, 4)!=4){
+			u8Error = ERR_NO_REPLY;
+			return 0;
+		}
+		if(bBuf[0]!=ID){
+			u8Error = ERR_SLAVE_ID;
+			return 0;
+		}
+		if(bBuf[1]!=2){
+			u8Error = ERR_BUFF_LEN;
+			return 0;
+		}
+		u8 calSum = ~(bBuf[0]+bBuf[1]+bBuf[2]);
+		if(calSum!=bBuf[3]){
+			u8Error = ERR_CRC_CMP;
+			return 0;
+		}
+		u8Status = bBuf[2];
+	}
+	return 1;
+}
+
+int	SCS::syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen)
+{
+	rFlushSCS();
+	syncReadRxPacketLen = nLen;
+	u8 checkSum = (4+0xfe) + IDN + MemAddr + nLen + INST_SYNC_READ;
+	u8 i;
+	writeSCS(0xff);
+	writeSCS(0xff);
+	writeSCS(0xfe);
+	writeSCS(IDN+4);
+	writeSCS(INST_SYNC_READ);
+	writeSCS(MemAddr);
+	writeSCS(nLen);
+	for(i=0; i<IDN; i++){
+		writeSCS(ID[i]);
+		checkSum += ID[i];
+	}
+	checkSum = ~checkSum;
+	writeSCS(checkSum);
+	wFlushSCS();
+	
+	syncReadRxBuffLen = readSCS(syncReadRxBuff, syncReadRxBuffMax, syncTimeOut);
+	return syncReadRxBuffLen;
+}
+
+void SCS::syncReadBegin(u8 IDN, u8 rxLen, u32 TimeOut)
+{
+	syncReadRxBuffMax = IDN*(rxLen+6);
+	syncReadRxBuff = new u8[syncReadRxBuffMax];
+	syncTimeOut = TimeOut;
+}
+
+void SCS::syncReadEnd()
+{
+	if(syncReadRxBuff){
+		delete syncReadRxBuff;
+		syncReadRxBuff = NULL;
+	}
+}
+
+int SCS::syncReadPacketRx(u8 ID, u8 *nDat)
+{
+	u16 syncReadRxBuffIndex = 0;
+	syncReadRxPacket = nDat;
+	syncReadRxPacketIndex = 0;
+	u8Error = 0;
+	while((syncReadRxBuffIndex+6+syncReadRxPacketLen)<=syncReadRxBuffLen){
+		u8 bBuf[] = {0, 0, 0};
+		u8 calSum = 0;
+		while(syncReadRxBuffIndex<syncReadRxBuffLen){
+			bBuf[0] = bBuf[1];
+			bBuf[1] = bBuf[2];
+			bBuf[2] = syncReadRxBuff[syncReadRxBuffIndex++];
+			if(bBuf[0]==0xff && bBuf[1]==0xff && bBuf[2]!=0xff){
+				break;
+			}
+		}
+		if(bBuf[2]!=ID){
+			continue;
+		}
+		if(syncReadRxBuff[syncReadRxBuffIndex++]!=(syncReadRxPacketLen+2)){
+			continue;
+		}
+		u8Status = syncReadRxBuff[syncReadRxBuffIndex++];
+		calSum = ID + (syncReadRxPacketLen+2) + u8Status;
+		for(u8 i=0; i<syncReadRxPacketLen; i++){
+			syncReadRxPacket[i] = syncReadRxBuff[syncReadRxBuffIndex++];
+			calSum += syncReadRxPacket[i];
+		}
+		calSum = ~calSum;
+		if(calSum!=syncReadRxBuff[syncReadRxBuffIndex++]){
+			u8Error = ERR_CRC_CMP;
+			return 0;
+		}
+		return syncReadRxPacketLen;
+	}
+	return 0;
+}
+
+int SCS::syncReadRxPacketToByte()
+{
+	if(syncReadRxPacketIndex>=syncReadRxPacketLen){
+		u8Error = ERR_BUFF_LEN;
+		return -1;
+	}
+	return syncReadRxPacket[syncReadRxPacketIndex++];
+}
+
+int SCS::syncReadRxPacketToWrod(u8 negBit)
+{
+	if((syncReadRxPacketIndex+1)>=syncReadRxPacketLen){
+		u8Error = ERR_BUFF_LEN;
+		return -1;
+	}
+	int Word = SCS2Host(syncReadRxPacket[syncReadRxPacketIndex], syncReadRxPacket[syncReadRxPacketIndex+1]);
+	syncReadRxPacketIndex += 2;
+	if(negBit){
+		if(Word&(1<<negBit)){
+			Word = -(Word & ~(1<<negBit));
+		}
+	}
+	return Word;
+}
+
+int SCS::Reset(u8 ID)
+{
+	rFlushSCS();
+	writeBuf(ID, 0, NULL, 0, INST_RESET);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+int SCS::Recal(u8 ID)
+{
+	rFlushSCS();
+	writeBuf(ID, 0, NULL, 0, INST_CAL);
+	wFlushSCS();
+	return Ack(ID);
+}
--- a/jxbeye/lib/FTServo/src/SCS.h
+++ b/jxbeye/lib/FTServo/src/SCS.h
@@ -0,0 +1,64 @@
+/*
+ * SCS.h
+ * 飞特串行舵机通信层协议程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#ifndef _SCS_H
+#define _SCS_H
+
+#include "INST.h"
+
+class SCS{
+public:
+	SCS();
+	SCS(u8 End);
+	SCS(u8 End, u8 Level);
+	int genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen);//普通写指令
+	int regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen);//异步写指令
+	int RegWriteAction(u8 ID = 0xfe);//异步写执行指令
+	void syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen);//同步写指令
+	int writeByte(u8 ID, u8 MemAddr, u8 bDat);//写1个字节
+	int writeWord(u8 ID, u8 MemAddr, u16 wDat);//写2个字节
+	int Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen);//读指令
+	int readByte(u8 ID, u8 MemAddr);//读1个字节
+	int readWord(u8 ID, u8 MemAddr);//读2个字节
+	int Ping(u8 ID);//Ping指令
+	int syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen);//同步读指令包发送
+	int syncReadPacketRx(u8 ID, u8 *nDat);//同步读返回包解码，成功返回内存字节数，失败返回0
+	int syncReadRxPacketToByte();//解码一个字节
+	int syncReadRxPacketToWrod(u8 negBit=0);//解码两个字节，negBit为方向为，negBit=0表示无方向
+	void syncReadBegin(u8 IDN, u8 rxLen, u32 TimeOut);//同步读开始
+	void syncReadEnd();//同步读结束
+	int Reset(u8 ID);//重置舵机状态
+	int Recal(u8 ID);//重置舵机中位
+	u8 getState() { return u8Status; }
+	u8 getLastError() { return u8Error; }
+public:
+	u8 Level;//舵机返回等级
+	u8 End;//处理器大小端结构
+	u8 u8Status;//舵机状态
+	u8 u8Error;//通信状态
+	u8 syncReadRxPacketIndex;
+	u8 syncReadRxPacketLen;
+	u8 *syncReadRxPacket;
+	u8 *syncReadRxBuff;
+	u16 syncReadRxBuffLen;
+	u16 syncReadRxBuffMax;
+	u32 syncTimeOut;
+protected:
+	virtual int writeSCS(unsigned char *nDat, int nLen) = 0;
+	virtual int readSCS(unsigned char *nDat, int nLen) = 0;
+	virtual int readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut) = 0;
+	virtual int writeSCS(unsigned char bDat) = 0;
+	virtual void rFlushSCS() = 0;
+	virtual void wFlushSCS() = 0;
+protected:
+	void writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun);
+	void Host2SCS(u8 *DataL, u8* DataH, u16 Data);//1个16位数拆分为2个8位数
+	u16	SCS2Host(u8 DataL, u8 DataH);//2个8位数组合为1个16位数
+	int	Ack(u8 ID);//返回应答
+	int checkHead();//帧头检测
+};
+#endif
--- a/jxbeye/lib/FTServo/src/SCSCL.cpp
+++ b/jxbeye/lib/FTServo/src/SCSCL.cpp
@@ -0,0 +1,203 @@
+/*
+ * SCSCL.cpp
+ * 飞特SCSCL系列串行舵机应用层程序
+ * 日期: 2024.4.2
+ * 作者: 
+ */
+
+#include "SCSCL.h"
+
+SCSCL::SCSCL()
+{
+	End = 1;
+}
+
+SCSCL::SCSCL(u8 End):SCSerial(End)
+{
+}
+
+SCSCL::SCSCL(u8 End, u8 Level):SCSerial(End, Level)
+{
+}
+
+int SCSCL::WritePos(u8 ID, u16 Position, u16 Time, u16 Speed)
+{
+	u8 bBuf[6];
+	Host2SCS(bBuf+0, bBuf+1, Position);
+	Host2SCS(bBuf+2, bBuf+3, Time);
+	Host2SCS(bBuf+4, bBuf+5, Speed);
+	
+	return genWrite(ID, SCSCL_GOAL_POSITION_L, bBuf, 6);
+}
+
+int SCSCL::RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed)
+{
+	u8 bBuf[6];
+	Host2SCS(bBuf+0, bBuf+1, Position);
+	Host2SCS(bBuf+2, bBuf+3, Time);
+	Host2SCS(bBuf+4, bBuf+5, Speed);
+	
+	return regWrite(ID, SCSCL_GOAL_POSITION_L, bBuf, 6);
+}
+
+void SCSCL::SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[])
+{
+    u8 offbuf[6*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		u16 T, V;
+		if(Time){
+			T = Time[i];
+		}else{
+			T = 0;
+		}
+		if(Speed){
+			V = Speed[i];
+		}else{
+			V = 0;
+		}
+        Host2SCS(offbuf+i*6+0, offbuf+i*6+1, Position[i]);
+        Host2SCS(offbuf+i*6+2, offbuf+i*6+3, T);
+        Host2SCS(offbuf+i*6+4, offbuf+i*6+5, V);
+    }
+    syncWrite(ID, IDN, SCSCL_GOAL_POSITION_L, offbuf, 6);
+}
+
+int SCSCL::EnableTorque(u8 ID, u8 Enable)
+{
+	return writeByte(ID, SCSCL_TORQUE_ENABLE, Enable);
+}
+
+int SCSCL::unLockEprom(u8 ID)
+{
+	return writeByte(ID, SCSCL_LOCK, 0);
+}
+
+int SCSCL::LockEprom(u8 ID)
+{
+	return writeByte(ID, SCSCL_LOCK, 1);
+}
+
+int SCSCL::FeedBack(int ID)
+{
+	int nLen = Read(ID, SCSCL_PRESENT_POSITION_L, Mem, sizeof(Mem));
+	if(nLen!=sizeof(Mem)){
+		return -1;
+	}
+	return nLen;
+}
+	
+int SCSCL::ReadPos(int ID)
+{
+	int Pos = -1;
+	if(ID==-1){
+		Pos = Mem[SCSCL_PRESENT_POSITION_L-SCSCL_PRESENT_POSITION_L];
+		Pos <<= 8;
+		Pos |= Mem[SCSCL_PRESENT_POSITION_H-SCSCL_PRESENT_POSITION_L];
+	}else{
+		Pos = readWord(ID, SCSCL_PRESENT_POSITION_L);
+	}
+	return Pos;
+}
+
+int SCSCL::ReadSpeed(int ID)
+{
+	int Speed = -1;
+	if(ID==-1){
+		Speed = Mem[SCSCL_PRESENT_SPEED_L-SCSCL_PRESENT_POSITION_L];
+		Speed <<= 8;
+		Speed |= Mem[SCSCL_PRESENT_SPEED_H-SCSCL_PRESENT_POSITION_L];
+	}else{
+		Speed = readWord(ID, SCSCL_PRESENT_SPEED_L);
+	}
+	if(Speed&(1<<15)){
+		Speed = -(Speed&~(1<<15));
+	}	
+	return Speed;
+}
+
+int SCSCL::ReadLoad(int ID)
+{
+	int Load = -1;
+	if(ID==-1){
+		Load = Mem[SCSCL_PRESENT_LOAD_L-SCSCL_PRESENT_POSITION_L];
+		Load <<= 8;
+		Load |= Mem[SCSCL_PRESENT_LOAD_H-SCSCL_PRESENT_POSITION_L];
+	}else{
+		Load = readWord(ID, SCSCL_PRESENT_LOAD_L);
+	}
+	if(Load&(1<<10)){
+		Load = -(Load&~(1<<10));
+	}	
+	return Load;
+}
+
+int SCSCL::ReadVoltage(int ID)
+{
+	int Voltage = -1;
+	if(ID==-1){
+		Voltage = Mem[SCSCL_PRESENT_VOLTAGE-SCSCL_PRESENT_POSITION_L];	
+	}else{
+		Voltage = readByte(ID, SCSCL_PRESENT_VOLTAGE);
+	}
+	return Voltage;
+}
+
+int SCSCL::ReadTemper(int ID)
+{
+	int Temper = -1;
+	if(ID==-1){
+		Temper = Mem[SCSCL_PRESENT_TEMPERATURE-SCSCL_PRESENT_POSITION_L];	
+	}else{
+		Temper = readByte(ID, SCSCL_PRESENT_TEMPERATURE);
+	}
+	return Temper;
+}
+
+int SCSCL::ReadMove(int ID)
+{
+	int Move = -1;
+	if(ID==-1){
+		Move = Mem[SCSCL_MOVING-SCSCL_PRESENT_POSITION_L];	
+	}else{
+		Move = readByte(ID, SCSCL_MOVING);
+	}
+	return Move;
+}
+
+int SCSCL::ReadCurrent(int ID)
+{
+	int Current = -1;
+	if(ID==-1){
+		Current = Mem[SCSCL_PRESENT_CURRENT_L-SCSCL_PRESENT_POSITION_L];
+		Current <<= 8;
+		Current |= Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L];
+	}else{
+		Current = readWord(ID, SCSCL_PRESENT_CURRENT_L);
+	}
+	if(Current&(1<<15)){
+		Current = -(Current&~(1<<15));
+	}	
+	return Current;
+}
+
+int SCSCL::PWMMode(u8 ID)
+{
+	u8 bBuf[4];
+	bBuf[0] = 0;
+	bBuf[1] = 0;
+	bBuf[2] = 0;
+	bBuf[3] = 0;
+	return genWrite(ID, SCSCL_MIN_ANGLE_LIMIT_L, bBuf, 4);	
+}
+
+int SCSCL::WritePWM(u8 ID, s16 pwmOut)
+{
+	if(pwmOut<0){
+		pwmOut = -pwmOut;
+		pwmOut |= (1<<10);
+	}
+	u8 bBuf[2];
+	Host2SCS(bBuf+0, bBuf+1, pwmOut);
+	
+	return genWrite(ID, SCSCL_GOAL_TIME_L, bBuf, 2);
+}
--- a/jxbeye/lib/FTServo/src/SCSCL.h
+++ b/jxbeye/lib/FTServo/src/SCSCL.h
@@ -0,0 +1,77 @@
+/*
+ * SCSCL.h
+ * 飞特SCSCL系列串行舵机应用层程序
+ * 日期: 2024.4.2
+ * 作者: 
+ */
+
+#ifndef _SCSCL_H
+#define _SCSCL_H
+
+//内存表定义
+//-------EPROM(只读)--------
+#define SCSCL_VERSION_L 3
+#define SCSCL_VERSION_H 4
+
+//-------EPROM(读写)--------
+#define SCSCL_ID 5
+#define SCSCL_BAUD_RATE 6
+#define SCSCL_MIN_ANGLE_LIMIT_L 9
+#define SCSCL_MIN_ANGLE_LIMIT_H 10
+#define SCSCL_MAX_ANGLE_LIMIT_L 11
+#define SCSCL_MAX_ANGLE_LIMIT_H 12
+#define SCSCL_CW_DEAD 26
+#define SCSCL_CCW_DEAD 27
+
+//-------SRAM(读写)--------
+#define SCSCL_TORQUE_ENABLE 40
+#define SCSCL_GOAL_POSITION_L 42
+#define SCSCL_GOAL_POSITION_H 43
+#define SCSCL_GOAL_TIME_L 44
+#define SCSCL_GOAL_TIME_H 45
+#define SCSCL_GOAL_SPEED_L 46
+#define SCSCL_GOAL_SPEED_H 47
+#define SCSCL_LOCK 48
+
+//-------SRAM(只读)--------
+#define SCSCL_PRESENT_POSITION_L 56
+#define SCSCL_PRESENT_POSITION_H 57
+#define SCSCL_PRESENT_SPEED_L 58
+#define SCSCL_PRESENT_SPEED_H 59
+#define SCSCL_PRESENT_LOAD_L 60
+#define SCSCL_PRESENT_LOAD_H 61
+#define SCSCL_PRESENT_VOLTAGE 62
+#define SCSCL_PRESENT_TEMPERATURE 63
+#define SCSCL_MOVING 66
+#define SCSCL_PRESENT_CURRENT_L 69
+#define SCSCL_PRESENT_CURRENT_H 70
+
+#include "SCSerial.h"
+
+class SCSCL : public SCSerial
+{
+public:
+	SCSCL();
+	SCSCL(u8 End);
+	SCSCL(u8 End, u8 Level);
+	int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//普通写单个舵机位置指令
+	int RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//异步写单个舵机位置指令(RegWriteAction生效)
+	void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]);//同步写多个舵机位置指令
+	int PWMMode(u8 ID);//PWM模式
+	int WritePWM(u8 ID, s16 pwmOut);//PWM输出模式指令
+	int EnableTorque(u8 ID, u8 Enable);//扭矩控制指令
+	int unLockEprom(u8 ID);//eprom解锁
+	int LockEprom(u8 ID);//eprom加锁
+	int FeedBack(int ID);//反馈舵机信息
+	int ReadPos(int ID);//读位置
+	int ReadSpeed(int ID);//读速度
+	int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
+	int ReadVoltage(int ID);//读电压
+	int ReadTemper(int ID);//读温度
+	int ReadMove(int ID);//读移动状态
+	int ReadCurrent(int ID);//读电流
+private:
+	u8 Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L+1];
+};
+
+#endif
--- a/jxbeye/lib/FTServo/src/SCSerial.cpp
+++ b/jxbeye/lib/FTServo/src/SCSerial.cpp
@@ -0,0 +1,99 @@
+/*
+ * SCSerial.h
+ * 飞特串行舵机硬件接口层程序
+ * 日期: 2024.4.2
+ * 作者: 
+ */
+
+#include "SCSerial.h"
+
+SCSerial::SCSerial()
+{
+	IOTimeOut = 10;
+	pSerial = NULL;
+}
+
+SCSerial::SCSerial(u8 End):SCS(End)
+{
+	IOTimeOut = 10;
+	pSerial = NULL;
+}
+
+SCSerial::SCSerial(u8 End, u8 Level):SCS(End, Level)
+{
+	IOTimeOut = 10;
+	pSerial = NULL;
+}
+
+int SCSerial::readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut)
+{
+	int Size = 0;
+	int ComData;
+	unsigned long t_begin = millis();
+	unsigned long t_user;
+	while(1){
+		ComData = pSerial->read();
+		if(ComData!=-1){
+			if(nDat){
+				nDat[Size] = ComData;
+			}
+			Size++;
+		}
+		if(Size>=nLen){
+			break;
+		}
+		t_user = millis() - t_begin;
+		if(t_user>TimeOut){
+			break;
+		}
+	}
+	return Size;
+}
+
+int SCSerial::readSCS(unsigned char *nDat, int nLen)
+{
+	int Size = 0;
+	int ComData;
+	unsigned long t_begin = millis();
+	unsigned long t_user;
+	while(1){
+		ComData = pSerial->read();
+		if(ComData!=-1){
+			if(nDat){
+				nDat[Size] = ComData;
+			}
+			Size++;
+			t_begin = millis();
+		}
+		if(Size>=nLen){
+			break;
+		}
+		t_user = millis() - t_begin;
+		if(t_user>IOTimeOut){
+			break;
+		}
+	}
+	return Size;
+}
+
+int SCSerial::writeSCS(unsigned char *nDat, int nLen)
+{
+	if(nDat==NULL){
+		return 0;
+	}
+	return pSerial->write(nDat, nLen);
+}
+
+int SCSerial::writeSCS(unsigned char bDat)
+{
+	return pSerial->write(&bDat, 1);
+}
+
+void SCSerial::rFlushSCS()
+{
+	while(pSerial->read()!=-1);
+}
+
+void SCSerial::wFlushSCS()
+{
+}
--- a/jxbeye/lib/FTServo/src/SCSerial.h
+++ b/jxbeye/lib/FTServo/src/SCSerial.h
@@ -0,0 +1,38 @@
+/*
+ * SCSerial.h
+ * 飞特串行舵机硬件接口层程序
+ * 日期: 2024.11.22
+ * 作者: txl
+ */
+
+#ifndef _SCSERIAL_H
+#define _SCSERIAL_H
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include "SCS.h"
+
+class SCSerial : public SCS
+{
+public:
+	SCSerial();
+	SCSerial(u8 End);
+	SCSerial(u8 End, u8 Level);
+
+protected:
+	int writeSCS(unsigned char *nDat, int nLen);//输出nLen字节
+	int readSCS(unsigned char *nDat, int nLen);//输入nLen字节
+	int readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut);
+	int writeSCS(unsigned char bDat);//输出1字节
+	void rFlushSCS();//
+	void wFlushSCS();//
+public:
+	unsigned long IOTimeOut;//输入输出超时
+	HardwareSerial *pSerial;//串口指针
+};
+
+#endif
--- a/jxbeye/lib/FTServo/src/SCServo.h
+++ b/jxbeye/lib/FTServo/src/SCServo.h
@@ -0,0 +1,15 @@
+/*
+ * SCServo.h
+ * 飞特串行舵机接口
+ * 日期: 2024.11.24
+ * 作者: txl
+ */
+
+#ifndef _SCSERVO_H
+#define _SCSERVO_H
+
+#include "SCSCL.h"
+#include "SMS_STS.h"
+#include "HLSCL.h"
+
+#endif
--- a/jxbeye/lib/FTServo/src/SMS_STS.cpp
+++ b/jxbeye/lib/FTServo/src/SMS_STS.cpp
@@ -0,0 +1,249 @@
+/*
+ * SMS_STS.cpp
+ * 飞特SMS_STS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#include "SMS_STS.h"
+
+SMS_STS::SMS_STS()
+{
+	End = 0;
+}
+
+SMS_STS::SMS_STS(u8 End):SCSerial(End)
+{
+}
+
+SMS_STS::SMS_STS(u8 End, u8 Level):SCSerial(End, Level)
+{
+}
+
+int SMS_STS::WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC)
+{
+	if(Position<0){
+		Position = -Position;
+		Position |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, Position);
+	Host2SCS(bBuf+3, bBuf+4, 0);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return genWrite(ID, SMS_STS_ACC, bBuf, 7);
+}
+
+int SMS_STS::RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC)
+{
+	if(Position<0){
+		Position = -Position;
+		Position |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, Position);
+	Host2SCS(bBuf+3, bBuf+4, 0);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return regWrite(ID, SMS_STS_ACC, bBuf, 7);
+}
+
+void SMS_STS::SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[])
+{
+    u8 offbuf[7*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		if(Position[i]<0){
+			Position[i] = -Position[i];
+			Position[i] |= (1<<15);
+		}
+		u16 V;
+		if(Speed){
+			V = Speed[i];
+		}else{
+			V = 0;
+		}
+		if(ACC){
+			offbuf[i*7] = ACC[i];
+		}else{
+			offbuf[i*7] = 0;
+		}
+        Host2SCS(offbuf+i*7+1, offbuf+i*7+2, Position[i]);
+        Host2SCS(offbuf+i*7+3, offbuf+i*7+4, 0);
+        Host2SCS(offbuf+i*7+5, offbuf+i*7+6, V);
+    }
+    syncWrite(ID, IDN, SMS_STS_ACC, offbuf, 7);
+}
+
+void SMS_STS::SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[])
+{
+    u8 offbuf[7*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		if(Speed[i]<0){
+			Speed[i] = -Speed[i];
+			Speed[i] |= (1<<15);
+		}
+		if(ACC){
+			offbuf[i*7] = ACC[i];
+		}else{
+			offbuf[i*7] = 0;
+		}
+        Host2SCS(offbuf+i*7+1, offbuf+i*7+2, 0);
+        Host2SCS(offbuf+i*7+3, offbuf+i*7+4, 0);
+        Host2SCS(offbuf+i*7+5, offbuf+i*7+6, Speed[i]);
+    }
+    syncWrite(ID, IDN, SMS_STS_ACC, offbuf, 7);
+}
+
+int SMS_STS::WheelMode(u8 ID)
+{
+	return writeByte(ID, SMS_STS_MODE, 1);		
+}
+
+int SMS_STS::WriteSpe(u8 ID, s16 Speed, u8 ACC)
+{
+	if(Speed<0){
+		Speed = -Speed;
+		Speed |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, 0);
+	Host2SCS(bBuf+3, bBuf+4, 0);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return genWrite(ID, SMS_STS_ACC, bBuf, 7);
+}
+
+int SMS_STS::EnableTorque(u8 ID, u8 Enable)
+{
+	return writeByte(ID, SMS_STS_TORQUE_ENABLE, Enable);
+}
+
+int SMS_STS::unLockEprom(u8 ID)
+{
+	return writeByte(ID, SMS_STS_LOCK, 0);
+}
+
+int SMS_STS::LockEprom(u8 ID)
+{
+	return writeByte(ID, SMS_STS_LOCK, 1);
+}
+
+int SMS_STS::CalibrationOfs(u8 ID)
+{
+	return writeByte(ID, SMS_STS_TORQUE_ENABLE, 128);
+}
+
+int SMS_STS::FeedBack(int ID)
+{
+	int nLen = Read(ID, SMS_STS_PRESENT_POSITION_L, Mem, sizeof(Mem));
+	if(nLen!=sizeof(Mem)){
+		return -1;
+	}
+	return nLen;
+}
+
+int SMS_STS::ReadPos(int ID)
+{
+	int Pos = -1;
+	if(ID==-1){
+		Pos = Mem[SMS_STS_PRESENT_POSITION_H-SMS_STS_PRESENT_POSITION_L];
+		Pos <<= 8;
+		Pos |= Mem[SMS_STS_PRESENT_POSITION_L-SMS_STS_PRESENT_POSITION_L];
+	}else{
+		Pos = readWord(ID, SMS_STS_PRESENT_POSITION_L);
+	}
+	if(Pos&(1<<15)){
+		Pos = -(Pos&~(1<<15));
+	}
+	
+	return Pos;
+}
+
+int SMS_STS::ReadSpeed(int ID)
+{
+	int Speed = -1;
+	if(ID==-1){
+		Speed = Mem[SMS_STS_PRESENT_SPEED_H-SMS_STS_PRESENT_POSITION_L];
+		Speed <<= 8;
+		Speed |= Mem[SMS_STS_PRESENT_SPEED_L-SMS_STS_PRESENT_POSITION_L];
+	}else{
+		Speed = readWord(ID, SMS_STS_PRESENT_SPEED_L);
+	}
+	if(Speed&(1<<15)){
+		Speed = -(Speed&~(1<<15));
+	}	
+	return Speed;
+}
+
+int SMS_STS::ReadLoad(int ID)
+{
+	int Load = -1;
+	if(ID==-1){
+		Load = Mem[SMS_STS_PRESENT_LOAD_H-SMS_STS_PRESENT_POSITION_L];
+		Load <<= 8;
+		Load |= Mem[SMS_STS_PRESENT_LOAD_L-SMS_STS_PRESENT_POSITION_L];
+	}else{
+		Load = readWord(ID, SMS_STS_PRESENT_LOAD_L);
+	}
+	if(Load&(1<<10)){
+		Load = -(Load&~(1<<10));
+	}
+	return Load;
+}
+
+int SMS_STS::ReadVoltage(int ID)
+{	
+	int Voltage = -1;
+	if(ID==-1){
+		Voltage = Mem[SMS_STS_PRESENT_VOLTAGE-SMS_STS_PRESENT_POSITION_L];	
+	}else{
+		Voltage = readByte(ID, SMS_STS_PRESENT_VOLTAGE);
+	}
+	return Voltage;
+}
+
+int SMS_STS::ReadTemper(int ID)
+{	
+	int Temper = -1;
+	if(ID==-1){
+		Temper = Mem[SMS_STS_PRESENT_TEMPERATURE-SMS_STS_PRESENT_POSITION_L];	
+	}else{
+		Temper = readByte(ID, SMS_STS_PRESENT_TEMPERATURE);
+	}
+	return Temper;
+}
+
+int SMS_STS::ReadMove(int ID)
+{
+	int Move = -1;
+	if(ID==-1){
+		Move = Mem[SMS_STS_MOVING-SMS_STS_PRESENT_POSITION_L];	
+	}else{
+		Move = readByte(ID, SMS_STS_MOVING);
+	}
+	return Move;
+}
+
+int SMS_STS::ReadCurrent(int ID)
+{
+	int Current = -1;
+	if(ID==-1){
+		Current = Mem[SMS_STS_PRESENT_CURRENT_H-SMS_STS_PRESENT_POSITION_L];
+		Current <<= 8;
+		Current |= Mem[SMS_STS_PRESENT_CURRENT_L-SMS_STS_PRESENT_POSITION_L];
+	}else{
+		Current = readWord(ID, SMS_STS_PRESENT_CURRENT_L);
+	}
+	if(Current&(1<<15)){
+		Current = -(Current&~(1<<15));
+	}	
+	return Current;
+}
+
+int SMS_STS::ServoMode(u8 ID)
+{
+	return writeByte(ID, SMS_STS_MODE, 0);		
+}
--- a/jxbeye/lib/FTServo/src/SMS_STS.h
+++ b/jxbeye/lib/FTServo/src/SMS_STS.h
@@ -0,0 +1,86 @@
+/*
+ * SMS_STS.h
+ * 飞特SMS/STS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#ifndef _SMS_STS_H
+#define _SMS_STS_H
+
+//内存表定义
+//-------EPROM(只读)--------
+#define SMS_STS_MODEL_L 3
+#define SMS_STS_MODEL_H 4
+
+//-------EPROM(读写)--------
+#define SMS_STS_ID 5
+#define SMS_STS_BAUD_RATE 6
+#define SMS_STS_MIN_ANGLE_LIMIT_L 9
+#define SMS_STS_MIN_ANGLE_LIMIT_H 10
+#define SMS_STS_MAX_ANGLE_LIMIT_L 11
+#define SMS_STS_MAX_ANGLE_LIMIT_H 12
+#define SMS_STS_CW_DEAD 26
+#define SMS_STS_CCW_DEAD 27
+#define SMS_STS_OFS_L 31
+#define SMS_STS_OFS_H 32
+#define SMS_STS_MODE 33
+
+//-------SRAM(读写)--------
+#define SMS_STS_TORQUE_ENABLE 40
+#define SMS_STS_ACC 41
+#define SMS_STS_GOAL_POSITION_L 42
+#define SMS_STS_GOAL_POSITION_H 43
+#define SMS_STS_GOAL_TIME_L 44
+#define SMS_STS_GOAL_TIME_H 45
+#define SMS_STS_GOAL_SPEED_L 46
+#define SMS_STS_GOAL_SPEED_H 47
+#define SMS_STS_TORQUE_LIMIT_L 48
+#define SMS_STS_TORQUE_LIMIT_H 49
+#define SMS_STS_LOCK 55
+
+//-------SRAM(只读)--------
+#define SMS_STS_PRESENT_POSITION_L 56
+#define SMS_STS_PRESENT_POSITION_H 57
+#define SMS_STS_PRESENT_SPEED_L 58
+#define SMS_STS_PRESENT_SPEED_H 59
+#define SMS_STS_PRESENT_LOAD_L 60
+#define SMS_STS_PRESENT_LOAD_H 61
+#define SMS_STS_PRESENT_VOLTAGE 62
+#define SMS_STS_PRESENT_TEMPERATURE 63
+#define SMS_STS_MOVING 66
+#define SMS_STS_PRESENT_CURRENT_L 69
+#define SMS_STS_PRESENT_CURRENT_H 70
+
+#include "SCSerial.h"
+
+class SMS_STS : public SCSerial
+{
+public:
+	SMS_STS();
+	SMS_STS(u8 End);
+	SMS_STS(u8 End, u8 Level);
+	int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0);//普通写单个舵机位置指令
+	int RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0);//异步写单个舵机位置指令(RegWriteAction生效)
+	void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[]);//同步写多个舵机位置指令
+	void SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[]);//同步写多个舵机速度指令
+	int ServoMode(u8 ID);//Servo模式
+	int WheelMode(u8 ID);//恒速模式
+	int WriteSpe(u8 ID, s16 Speed, u8 ACC = 0);//恒速模式控制指令
+	int EnableTorque(u8 ID, u8 Enable);//扭力控制指令
+	int unLockEprom(u8 ID);//eprom解锁
+	int LockEprom(u8 ID);//eprom加锁
+	int CalibrationOfs(u8 ID);//中位校准
+	int FeedBack(int ID);//反馈舵机信息
+	int ReadPos(int ID);//读位置
+	int ReadSpeed(int ID);//读速度
+	int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
+	int ReadVoltage(int ID);//读电压
+	int ReadTemper(int ID);//读温度
+	int ReadMove(int ID);//读移动状态
+	int ReadCurrent(int ID);//读电流
+private:
+	u8 Mem[SMS_STS_PRESENT_CURRENT_H-SMS_STS_PRESENT_POSITION_L+1];
+};
+
+#endif