Under Heavey Development, only minimal AX12 working
Yet another Dynamexl library for smart servos. This is call mv after the
unix move command.
#include <mv.h>
#include <vector>
AX12 servo;
std::vector<uint16_t> angles {0,200,400,600,800,1000};
SerialPort sp;
uint16_t angle;
constexpr int dd_pin = 2;
void setup() {
Serial.begin(1000000);
Serial1.begin(1000000);
Serial1.setTimeout(10);
sp.begin(&Serial1, dd_pin);
randomSeed(analogRead(0));
angle = random(0,1023);
}
void get_response() {
ReadStatus_t rs = sp.read();
if (rs.ok) {
for (Packet_t const &p: rs.pkts) {
for (uint8_t const &b: p) {
Serial.print((int) b);
Serial.print(",");
}
Serial.println(" ");
}
}
}
void loop() {
for (const auto& v: angles){
std::vector<ServoMoveSpeed_t> ss {
{1, v, 0},
{2, v, 0},
{3, v, 0}
};
Packet_t mv = servo.makeMovePacket(ss);
sp.write(mv);
get_response();
delay(1000);
}
Packet_t ping = servo.makePingPacket();
sp.write(ping);
delay(100);
get_response();
delay(500);
}- support Protocol 1
- support Protocol 2
- support XL430 maybe
- support XL320 probably not
Copyright (c) 2019 Kevin J. Walchko
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