#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)
}