77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
/**
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* \par Copyright (C), 2012-2016, MakeBlock
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* @file SmartServoTest.ino
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* @author MakeBlock
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* @version V1.0.0
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* @date 2016/08/31
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* @brief Description: this file is sample code for Smart servo device.
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*
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* Function List:
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* 1. boolean MeSmartServo::assignDevIdRequest(void);
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* 2. boolean MeSmartServo::moveTo(uint8_t dev_id,long angle_value,float speed);
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* 3. boolean MeSmartServo::move(uint8_t dev_id,long angle_value,float speed);
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* 4. long MeSmartServo::getAngleRequest(uint8_t devId);
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* 5. float MeSmartServo::getSpeedRequest(uint8_t devId);
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* 6. float MeSmartServo::getVoltageRequest(uint8_t devId);
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* 7. float MeSmartServo::getTempRequest(uint8_t devId);
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* 8. float MeSmartServo::getCurrentRequest(uint8_t devId);
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*
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* \par History:
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* <pre>
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* <Author> <Time> <Version> <Descr>
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* Mark Yan 2016/08/31 1.0.0 build the new
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* </pre>
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*/
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#include <SoftwareSerial.h>
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#include "MeAuriga.h"
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MeSmartServo mysmartservo(PORT5); //UART2 is on port 5
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long loopTime = 0;
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void setup()
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{
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Serial.begin(115200);
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mysmartservo.begin(115200);
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delay(5);
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mysmartservo.assignDevIdRequest();
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delay(50);
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Serial.println("setup!");
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loopTime = millis();
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}
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void loop()
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{
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mysmartservo.moveTo(1,360,50); //device ID, angle, speed; absolute angle move;
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loopTime = millis();
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while(millis() - loopTime < 2000)
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{
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Serial.print("angle:");
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Serial.print(mysmartservo.getAngleRequest(1));
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Serial.print(" speed:");
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Serial.print(mysmartservo.getSpeedRequest(1));
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Serial.print(" voltage:");
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Serial.print(mysmartservo.getVoltageRequest(1));
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Serial.print(" temp:");
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Serial.print(mysmartservo.getTempRequest(1));
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Serial.print(" Current:");
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Serial.println(mysmartservo.getCurrentRequest(1));
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}
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mysmartservo.move(1,-360,50); //device ID, angle, speed; relative angle move;
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loopTime = millis();
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while(millis() - loopTime < 2000)
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{
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Serial.print("angle:");
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Serial.print(mysmartservo.getAngleRequest(1));
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Serial.print(" speed:");
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Serial.print(mysmartservo.getSpeedRequest(1));
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Serial.print(" voltage:");
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Serial.print(mysmartservo.getVoltageRequest(1));
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Serial.print(" temp:");
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Serial.print(mysmartservo.getTempRequest(1));
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Serial.print(" Current:");
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Serial.println(mysmartservo.getCurrentRequest(1));
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}
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}
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