Servo Damping Mode

1. API Usage

1.1 Set Damping Mode and Power

// 舵机阻尼模式
FSUS_STATUS FSUS_DampingMode(Usart_DataTypeDef *usart, uint8_t servoId, uint16_t power);

usart Servo control Serial Port data object Usart_DataTypeDef
servoId ID of the Servo
power Power of the Servo, in mW

Example

// 连接在转接板上的总线伺服舵机ID号
uint8_t servoId = 0; 
// 阻尼模式下的功率，功率越大阻力越大
uint16_t power = 500;
// 设置舵机为阻尼模式
FSUS_DampingMode(servoUsart, servoId, power);

2. Set Damping Mode Power

2.1 Feature Overview

Set different power values to experience changes in the servo damping force.

2.2 Source Code

Note: The example project source code for this section is located in openmv-stm32.zip (after extraction: Source Code/FashionStarUartServo/).

/***************************************************
 * 总线伺服舵机阻尼模式
 ***************************************************/
#include "stm32f10x.h"
#include "usart.h"
#include "sys_tick.h"
#include "fashion_star_uart_servo.h"

// 使用串口1作为舵机控制的端口
// <接线说明>
// STM32F103 PA9(Tx)  <----> 总线伺服舵机转接板 Rx
// STM32F103 PA10(Rx) <----> 总线伺服舵机转接板 Tx
// STM32F103 GND      <----> 总线伺服舵机转接板 GND
// STM32F103 V5       <----> 总线伺服舵机转接板 5V
// <注意事项>
// 使用前确保已设置usart.h里面的USART1_ENABLE为1
// 设置完成之后, 将下行取消注释
Usart_DataTypeDef* servoUsart = &usart1; 

// 连接在转接板上的总线伺服舵机ID号
uint8_t servoId = 0; 
// 阻尼模式下的功率，功率越大阻力越大
uint16_t power = 500;
int main (void)
{
    // 嘀嗒定时器初始化
    SysTick_Init();
    // 串口初始化
    Usart_Init();
    // 设置舵机为阻尼模式
    FSUS_DampingMode(servoUsart, servoId, power);
    while (1)
    {   
        //主循环什么也不做
        // 等待1000ms
        SysTick_DelayMs(1000);
    }
}

3. Damping Mode and Angle Readback

3.1 Feature Overview

Set the servo to damping mode and request the angle of the servo. When rotating the servo, the angle of the servo is updated periodically. serial port 2 prints the servo angle information at intervals.

3.2 Demo Video

3.3 Source Code

Note: The example project source code for this section is located in openmv-stm32.zip (after extraction: Source Code/FashionStarUartServo/).

#include "stm32f10x.h"
#include "usart.h"
#include "sys_tick.h"
#include "fashion_star_uart_servo.h"

// 使用串口1作为舵机控制的端口
// <接线说明>
// STM32F103 PA9(Tx)  <----> 总线伺服舵机转接板 Rx
// STM32F103 PA10(Rx) <----> 总线伺服舵机转接板 Tx
// STM32F103 GND      <----> 总线伺服舵机转接板 GND
// STM32F103 V5       <----> 总线伺服舵机转接板 5V
// <注意事项>
// 使用前确保已设置usart.h里面的USART1_ENABLE为1
// 设置完成之后, 将下行取消注释
Usart_DataTypeDef* servoUsart = &usart1; 
// 使用串口2作为日志输出的端口
// <接线说明>
// STM32F103 PA2(Tx) <----> USB转TTL Rx
// STM32F103 PA3(Rx) <----> USB转TTL Tx
// STM32F103 GND     <----> USB转TTL GND
// STM32F103 V5      <----> USB转TTL 5V (可选)
// <注意事项>
// 使用前确保已设置usart.h里面的USART2_ENABLE为1
Usart_DataTypeDef* loggingUsart = &usart2;

// 重定向c库函数printf到串口，重定向后可使用printf函数
int fputc(int ch, FILE *f)
{
    while((loggingUsart->pUSARTx->SR&0X40)==0){}
    /* 发送一个字节数据到串口 */
    USART_SendData(loggingUsart->pUSARTx, (uint8_t) ch);
    /* 等待发送完毕 */
    // while (USART_GetFlagStatus(USART1, USART_FLAG_TC) != SET);       
    return (ch);
}

FSUS_STATUS statusCode; // 请求包的状态码
uint8_t servoId = 0;    // 连接在转接板上的总线伺服舵机ID号
uint16_t power = 500;   // 阻尼模式下的功率，功率越大阻力越大
float angle = 0;        // 舵机的角度

int main (void)
{
    // 嘀嗒定时器初始化
    SysTick_Init();
    // 串口初始化
    Usart_Init();
    // 设置舵机为阻尼模式
    FSUS_DampingMode(servoUsart, servoId, power);
    while (1)
    {   
        // 读取一下舵机的角度
        statusCode = FSUS_QueryServoAngle(servoUsart, servoId, &angle);

        if (statusCode ==FSUS_STATUS_SUCCESS){
            // 成功的读取到了舵机的角度
            printf("[INFO] servo id= %d ; angle = %f\r\n", servoId, angle);
        }else{
            // 没有正确的读取到舵机的角度
            printf("\r\n[INFO] read servo %d angle, status code: %d \r\n", servoId, statusCode);
            printf("[ERROR]failed to read servo angle\r\n");
        }
        // 等待1000ms
        SysTick_DelayMs(500);
    }
}