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/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();
+}