149 lines
3.5 KiB
C++
149 lines
3.5 KiB
C++
/*
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回读所有舵机反馈参数:位置、速度、负载、电压、温度、移动状态、电流；
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FeedBack函数回读舵机参数于缓冲区，Readxxx(-1)函数返回缓冲区中相应的舵机状态；
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函数Readxxx(ID)，ID=-1返回FeedBack缓冲区参数；ID>=0，通过读指令直接返回指定ID舵机状态,
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无需调用FeedBack函数。
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*/
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#include <SCServo.h>
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HLSCL hlscl;
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int LEDpin = 13;
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void setup()
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{
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pinMode(LEDpin,OUTPUT);
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digitalWrite(LEDpin, HIGH);
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Serial1.begin(1000000);//mega2560
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//Serial1.begin(1000000, SERIAL_8N1, 18, 17);//esp32-s32
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Serial.begin(115200);
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hlscl.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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int Pos;
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int Speed;
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int Load;
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int Voltage;
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int Temper;
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int Move;
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int Current;
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hlscl.FeedBack(1);
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if(!hlscl.getLastError()){
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digitalWrite(LEDpin, LOW);
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Pos = hlscl.ReadPos(-1);
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Speed = hlscl.ReadSpeed(-1);
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Load = hlscl.ReadLoad(-1);
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Voltage = hlscl.ReadVoltage(-1);
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Temper = hlscl.ReadTemper(-1);
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Move = hlscl.ReadMove(-1);
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Current = hlscl.ReadCurrent(-1);
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Serial.print("Position:");
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Serial.println(Pos);
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Serial.print("Speed:");
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Serial.println(Speed);
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Serial.print("Load:");
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Serial.println(Load);
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Serial.print("Voltage:");
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Serial.println(Voltage);
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Serial.print("Temper:");
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Serial.println(Temper);
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Serial.print("Move:");
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Serial.println(Move);
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Serial.print("Current:");
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Serial.println(Current);
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delay(10);
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}else{
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digitalWrite(LEDpin, HIGH);
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Serial.println("FeedBack err");
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delay(500);
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}
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Pos = hlscl.ReadPos(1);
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if(!hlscl.getLastError()){
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digitalWrite(LEDpin, LOW);
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Serial.print("Servo position:");
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Serial.println(Pos, DEC);
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delay(10);
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}else{
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Serial.println("read position err");
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digitalWrite(LEDpin, HIGH);
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delay(500);
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}
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Voltage = hlscl.ReadVoltage(1);
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if(!hlscl.getLastError()){
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digitalWrite(LEDpin, LOW);
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Serial.print("Servo Voltage:");
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Serial.println(Voltage, DEC);
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delay(10);
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}else{
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Serial.println("read Voltage err");
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digitalWrite(LEDpin, HIGH);
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delay(500);
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}
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Temper = hlscl.ReadTemper(1);
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if(!hlscl.getLastError()){
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digitalWrite(LEDpin, LOW);
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Serial.print("Servo temperature:");
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Serial.println(Temper, DEC);
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delay(10);
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}else{
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Serial.println("read temperature err");
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digitalWrite(LEDpin, HIGH);
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delay(500);
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}
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Speed = hlscl.ReadSpeed(1);
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if(!hlscl.getLastError()){
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digitalWrite(LEDpin, LOW);
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Serial.print("Servo Speed:");
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Serial.println(Speed, DEC);
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delay(10);
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}else{
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Serial.println("read Speed err");
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digitalWrite(LEDpin, HIGH);
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delay(500);
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}
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Load = hlscl.ReadLoad(1);
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if(!hlscl.getLastError()){
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digitalWrite(LEDpin, LOW);
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Serial.print("Servo Load:");
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Serial.println(Load, DEC);
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delay(10);
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}else{
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Serial.println("read Load err");
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digitalWrite(LEDpin, HIGH);
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delay(500);
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}
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Current = hlscl.ReadCurrent(1);
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if(!hlscl.getLastError()){
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digitalWrite(LEDpin, LOW);
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Serial.print("Servo Current:");
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Serial.println(Current, DEC);
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delay(10);
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}else{
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Serial.println("read Current err");
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digitalWrite(LEDpin, HIGH);
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delay(500);
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}
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Move = hlscl.ReadMove(1);
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if(!hlscl.getLastError()){
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digitalWrite(LEDpin, LOW);
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Serial.print("Servo Move:");
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Serial.println(Move, DEC);
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delay(10);
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}else{
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Serial.println("read Move err");
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digitalWrite(LEDpin, HIGH);
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delay(500);
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}
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Serial.println();
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}
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