WIP: snapshot before repo migration

jxbeye/lib/FTServo/examples/SCSCL/Broadcast/Broadcast.ino

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+/*
+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)
+}

jxbeye/lib/FTServo/examples/SCSCL/FeedBack/FeedBack.ino

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+/*
+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();
+}

jxbeye/lib/FTServo/examples/SCSCL/Ping/Ping.ino

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+/*
+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);
+  }
+}

jxbeye/lib/FTServo/examples/SCSCL/ProgramEprom/ProgramEprom.ino

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+/*
+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()
+{
+
+}

jxbeye/lib/FTServo/examples/SCSCL/RegWritePos/RegWritePos.ino

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+/*
+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)
+}

jxbeye/lib/FTServo/examples/SCSCL/SyncWritePos/SyncWritePos.ino

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+/*
+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)
+}

jxbeye/lib/FTServo/examples/SCSCL/WritePWM/WritePWM.ino

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+/*
+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);
+}

jxbeye/lib/FTServo/examples/SCSCL/WritePos/WritePos.ino

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+/*
+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)
+}