38 lines
949 B
C++
38 lines
949 B
C++
/*
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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。
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*/
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#include <SCServo.h>
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SCSCL sc;
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byte ID[2];
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u16 Position[2];
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u16 Speed[2];
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void setup()
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{
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Serial1.begin(1000000);
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sc.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] = 1500;//最高速度V=1500*0.059=88.5rpm
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Speed[1] = 1500;//最高速度V=1500*0.059=88.5rpm
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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=1500*0.059=88.5rpm，运行至P1=1000位置
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Position[0] = 1000;
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Position[1] = 1000;
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sc.SyncWritePos(ID, 2, Position, 0, Speed);
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delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
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//舵机(ID1/ID2)以最高速度V=1500*0.059=88.5rpm，运行至P0=20位置
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Position[0] = 20;
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Position[1] = 20;
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sc.SyncWritePos(ID, 2, Position, 0, Speed);
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delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
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}
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