readme.md

OCServo documentation

Content:

• Structures and Enums
• Constructors
• Instructions
• Set Values
• Get Values
• Other

Structures and Enums

• OCSMode - enum
  • OCS_SERVO - Servo mode (0-360 degrees)
  • OCS_MOTOR - Constant torque output mode
• OCSResponseLevel - enum
  • OCS_RESPOND_READ_ONLY - Servo responds only to read and ping commands
  • OCS_RESPOND_ALL - Servo responds to all commands
• OCSResponse - struct
  • byte prefix[2] - Prefix 0xFF, 0xFF
  • byte id - ID of servo
  • byte length - Length of instruction
  • byte instruction - Instruction
  • int numberOfParameters - Number of parameters
  • byte parameters[16] - Supplementary control information except instruction
  • byte checksum - Checksum = ~(ID+Length+Param1+...+ParamN)

Constructors

• OCServo (byte id, SoftwareSerial *serialPort)
  • id - ID of servomotor
  • serialPort - SoftwareSerial port servo connected to
• OCServo (byte id, HardwareSerial *serialPort)
  • id - ID of servomotor
  • serialPort - HardwareSerial port servo connected to

Instructions

• void ping()
  • Used to read the work state of the servo
• OCSResponse ocsRead(byte address, byte length)
  • address - Data address
  • length - Read length
  • Used to read the data inside the servo
• OCSResponse ocsWrite(byte address, int paramsNumber, byte *params)
  • address - Data address
  • paramsNumber - Number of parameters
  • *params - Pointer to array of parameters
  • This command is used to write parameters to the servo memory control table

Set Values

• OCSResponse setID(byte new_id)
  • new_id - New ID for servo (0-254)
  • Changes ID of servomotor
• void setBaudRate(long baudrate)
  • baudrate - New baudrate value
  • Changes baudrate of servo (supported baud rates: 1M, 500000, 250000, 128000, 115200, 76800, 57600, 38400)
• OCSResponse setMaxTorque(int torque)
  • torque - Torque value (0-1000)
  • Sets max output torque (0 - min value, 1000 - max value)
• OCSResponse setMode(int mode)
  • mode - OCS_SERVO or OCS_MOTOR
  • Sets motor mode
• OCSResponse setGoalAngle(int angle, long timeMillis= 0)
  • angle - Angle in degrees (0-360)
  • timeMillis=0 - Time to reach goal im ms (0-65535). Default is 0 (maximum speed)
  • Sets goal angle for servo. It is possible to specify time in milliseconds.
• OCSResponse setGoalPosition(int position, long timeMillis = 0)
  • position - Goal position (0-4095)
  • timeMillis - Time to reach goal im ms (0-65535). Default is 0 (maximum speed)
  • Sets goal angle for servo. It is possible to specify time in milliseconds. Same as setGoalAngle, but has more control of angle.
• OCSResponse setOperationTime(long timeMillis)
  • timeMillis - Time to reach goal im ms (0-65535). Default is 0 (maximum speed)
  • Sets time to reach goal. Will be overwritten by setGoalAngle or setGoalPosition.
• OCSResponse setResponseDelay(int delayMicros)
  • delayMicros - Delay in microseconds (0-510)
  • Sets response delay.
• OCSResponse setResponseLevel(int level)
  • level - OCS_RESPOND_READ_ONLY or OCS_RESPOND_ALL
  • Sets level of response.
• OCSResponse setMinAngle(int angle)
  • angle - Angle (0-4095)
  • Sets min angle of servo
• OCSResponse setMaxAngle(int angle)
  • angle - Angle (0-4095)
  • Sets max angle servo
• OCSResponse setMaxVoltage(int voltage)
  • voltage
  • .
• OCSResponse setMinVoltage(int voltage)
  • voltage
  • .
• OCSResponse setOperationSpeed(long speed)
  • speed - Speed of a servo, AD/ms (0-65535)
  • Sets the speed of the servo.

Get Values

• byte getID()
  • Returns ID of a servo
  • Returns 255 if error occured
• long getBaudRate()
  • Returns current baud rate of a servo
  • Returns -1 if error occured
• int getMaxTorque()
  • Returns max torque of a servo
  • Returns -1 if error occured
• int getMode()
  • Returns motor mode
  • Returns -1 if error occured.
• int getGoalAngle()
  • Returns goal angle (0-360 degrees)
• int getGoalPosition()
  • Returns goal position (0-4095)
• long getOperationTime()
  • Returns operation time in ms (0-65535)
• int getResponseDelay()
  • Returns response delay in microseconds (0-510)
• int getResponseLevel()
  • Returns response level (OCS_RESPOND_READ_ONLY or OCS_RESPOND_ALL)
• int getMinAngle()
  • Returns min angle of servo (0-4095)
• int getMaxAngle()
  • Returns max angle of servo (0-4095)
• int getMaxVoltage()
  • .
• int getMinVoltage()
  • .
• long getOperationSpeed()
  • Returns operation speed in AD/ms (0-65535)
• bool reachedGoal()
  • Returns true if servo reached it's goal. Otherwise returns false

Other

• void begin(long baudrate=1000000)
  • baudrate - Baud rate value. Default is 1M
  • Sets baudrate value for serial port servo connected to.
  • Function setBaudRate calls this method inside, so you do not need to do this manually.
• void printResponse(OCSResponse response)
  • response - OCSResponse struct with response.
  • Prints response structure.