40 lines
1.3 KiB
C++
40 lines
1.3 KiB
C++
#include <SCServo.h>
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HLSCL hlscl;
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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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u16 Torque[2];
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void setup()
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{
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//Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s3
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Serial1.begin(1000000);//mega2560
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hlscl.pSerial = &Serial1;
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delay(1000);
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ID[0] = 1;//舵机ID1
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ID[1] = 2;//舵机ID2
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Speed[0] = 60;//最高速度V=60*0.732=43.92rpm
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Speed[1] = 60;//最高速度V=60*0.732=43.92rpm
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ACC[0] = 50;//加速度A=50*8.7deg/s^2
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ACC[1] = 50;//加速度A=50*8.7deg/s^2
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Torque[0] = 300;//最大扭矩电流T=500*6.5=3250mA
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Torque[1] = 300;//最大扭矩电流T=500*6.5=3250mA
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}
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void loop()
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{
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//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
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Position[0] = 4095;
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Position[1] = 4095;
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hlscl.SyncWritePosEx(ID, 2, Position, Speed, ACC, Torque);
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delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
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//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
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Position[0] = 0;
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Position[1] = 0;
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hlscl.SyncWritePosEx(ID, 2, Position, Speed, ACC, Torque);
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delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
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}
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