37 lines
1.1 KiB
C++
37 lines
1.1 KiB
C++
#include <SCServo.h>
|
||
SMS_STS sms_sts;
|
||
|
||
byte ID[2];
|
||
s16 Position[2];
|
||
u16 Speed[2];
|
||
byte ACC[2];
|
||
|
||
void setup()
|
||
{
|
||
//Serial1.begin(115200);//sms_stss舵机波特率115200
|
||
Serial1.begin(1000000);//sts舵机波特率1000000
|
||
sms_sts.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
|
||
}
|
||
|
||
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，运行至P1=4095位置
|
||
Position[0] = 4095;
|
||
Position[1] = 4095;
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
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，运行至P0=0位置
|
||
Position[0] = 0;
|
||
Position[1] = 0;
|
||
sms_sts.SyncWritePosEx(ID, 2, Position, Speed, ACC);
|
||
delay((4095-0)*1000/(60*50) + (60*50)*10/(50) + 50);//[(P1-P0)/(V*50)]*1000+[(V*50)/(A*100)]*1000 + 50(误差)
|
||
}
|