MTSVB1 เซอร์โวบัสแรงดันสูง LX-224HV High Voltage Bus Servo Motor

ตัวอย่างโค้ด Arduino

#define GET_LOW_BYTE(A)  (uint8_t)((A))
#define GET_HIGH_BYTE(A) (uint8_t)((A) >> 8)
#define LOBOT_SERVO_FRAME_HEADER 0x55
#define LOBOT_SERVO_ID_WRITE 13

byte LobotCheckSum(byte buf[]) {
  byte i;
  uint16_t temp = 0;
  for (i = 2; i < buf[3] + 2; i++) {
    temp += buf[i];
  }
  temp = ~temp;
  return (byte)temp;
}

void LobotSerialServoSetID(HardwareSerial &SerialX, uint8_t oldID, uint8_t newID) {
  byte buf[7];
  buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
  buf[2] = oldID;
  buf[3] = 4;
  buf[4] = LOBOT_SERVO_ID_WRITE;
  buf[5] = newID;
  buf[6] = LobotCheckSum(buf);
  SerialX.write(buf, 7);
}

void setup() {
  Serial.begin(115200);  // Baudrate
  pinMode(13, OUTPUT);
  delay(1000);
}

void loop() {
  delay(500);
  digitalWrite(13, HIGH);
  LobotSerialServoSetID(Serial, 1, 2);  // เปลี่ยน ID จาก 1 เป็น 2
  delay(500);
  digitalWrite(13, LOW);
}

Project 2: ควบคุมเซอร์โวให้หมุน (ID1 และ ID2)

เซอร์โว 2 ตัว สลับตำแหน่งไปมาแบบต่อเนื่อง

#define GET_LOW_BYTE(A)  (uint8_t)((A))
#define GET_HIGH_BYTE(A) (uint8_t)((A) >> 8)
#define LOBOT_SERVO_FRAME_HEADER 0x55
#define LOBOT_SERVO_MOVE_TIME_WRITE 1

byte LobotCheckSum(byte buf[]) {
  byte i;
  uint16_t temp = 0;
  for (i = 2; i < buf[3] + 2; i++) {
    temp += buf[i];
  }
  temp = ~temp;
  return (byte)temp;
}

void LobotSerialServoMove(HardwareSerial &SerialX, uint8_t id, int16_t position, uint16_t time) {
  byte buf[10];
  if (position < 0) position = 0;
  if (position > 1000) position = 1000;

  buf[0] = buf[1] = LOBOT_SERVO_FRAME_HEADER;
  buf[2] = id;
  buf[3] = 7;
  buf[4] = LOBOT_SERVO_MOVE_TIME_WRITE;
  buf[5] = GET_LOW_BYTE(position);
  buf[6] = GET_HIGH_BYTE(position);
  buf[7] = GET_LOW_BYTE(time);
  buf[8] = GET_HIGH_BYTE(time);
  buf[9] = LobotCheckSum(buf);
  SerialX.write(buf, 10);
}

#define ID1 1
#define ID2 2

void setup() {
  Serial.begin(115200);
  delay(1000);
}

void loop() {
  LobotSerialServoMove(Serial, ID1, 100, 500);
  LobotSerialServoMove(Serial, ID2, 500, 500);
  delay(1000);

  LobotSerialServoMove(Serial, ID1, 500, 500);
  LobotSerialServoMove(Serial, ID2, 600, 500);
  delay(1000);

  LobotSerialServoMove(Serial, ID1, 900, 500);
  LobotSerialServoMove(Serial, ID2, 700, 500);
  delay(1000);

  LobotSerialServoMove(Serial, ID1, 500, 500);
  LobotSerialServoMove(Serial, ID2, 600, 500);
  delay(1000);
}