23 lines
732 B
C++
23 lines
732 B
C++
#include <SCServo.h>
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SMS_STS sms_sts;
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void setup()
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{
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//Serial1.begin(115200);//sms舵机波特率115200
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Serial1.begin(1000000);//sts舵机波特率1000000
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sms_sts.pSerial = &Serial1;
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delay(1000);
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}
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void loop()
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{
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//舵机(ID1)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P1=4095位置
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sms_sts.WritePosEx(1, 4095, 2400, 50);
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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)以最高速度V=60*0.732=43.92rpm，加速度A=50*8.7deg/s^2，运行至P0=0位置
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sms_sts.WritePosEx(1, 0, 2400, 50);
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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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