51 lines
1.4 KiB
C++
51 lines
1.4 KiB
C++
#include <SCServo.h>
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HLSCL hlscl;
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byte ID[2];
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s16 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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hlscl.WheelMode(1);//舵机ID1切换至恒速模式
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hlscl.WheelMode(2);//舵机ID2切换至恒速模式
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ID[0] = 1;//舵机ID1
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ID[1] = 2;//舵机ID2
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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] = 500;//最大扭矩电流T=500*6.5=3250mA
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Torque[1] = 500;//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
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Speed[0] = 60;
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Speed[1] = 60;
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hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
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delay(5000);
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//舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止运行
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Speed[0] = 0;
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Speed[1] = 0;
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hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
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delay(2000);
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//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
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Speed[0] = -60;
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Speed[1] = -60;
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hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
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delay(5000);
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//舵机(ID1/ID2)以加速度A=50*8.7deg/s^2，减速至速度0停止运行
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Speed[0] = 0;
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Speed[1] = 0;
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hlscl.SyncWriteSpe(ID, 2, Speed, ACC, Torque);
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delay(2000);
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}
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