30 lines
763 B
C++
30 lines
763 B
C++
/*
|
||
异步写例子在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。
|
||
*/
|
||
|
||
#include <SCServo.h>
|
||
|
||
SCSCL sc;
|
||
|
||
void setup()
|
||
{
|
||
Serial1.begin(1000000);
|
||
sc.pSerial = &Serial1;
|
||
delay(1000);
|
||
}
|
||
|
||
void loop()
|
||
{
|
||
//舵机(ID1/ID2)以最高速度V=1500*0.059=88.5rpm，运行至P1=1000位置
|
||
sc.RegWritePos(1, 1000, 0, 1500);
|
||
sc.RegWritePos(2, 1000, 0, 1500);
|
||
sc.RegWriteAction();
|
||
delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
|
||
|
||
//舵机(ID1/ID2)以最高速度V=1500*0.059=88.5rpm，运行至P0=20位置
|
||
sc.RegWritePos(1, 20, 0, 1500);
|
||
sc.RegWritePos(2, 20, 0, 1500);
|
||
sc.RegWriteAction();
|
||
delay((1000-20)*1000/(1500) + 100);//[(P1-P0)/(V)]*1000 + 100(误差)
|
||
}
|