AIServo86 Library

The 86Duino IDE has added this library since Coding 315. In addition to being fully backward compatible with the existing Servo library of Arduino/86Duino, many new functions have been added to make it easier for players to operate robots made of AI servos (e.g., player-type bipedal robots and six-legged robots). With the AIServo86 library, users can.

1. specify the angle and speed of a single servo and set multiple servos to operate simultaneously.
2. All servo angles of the robot can be saved as a single action frame, and the time interval of the action frame can be freely decided to reproduce or record the robot’s action.

AIServo86 Catalogue

AIServoPort Class

Initialize the port used to control AI Servo.

• AIServoPort
• begin()

AIServo Class

This class provides all the functions of the Servo Class of the old Servo library in Arduino/86Duino and adds a new function to control the servo motion and rotation speed.

• AIServo
• attach()
• write()
• read()
• attached()
• detach()
• setOffset()
• setVelocity()
• setPosition()
• setRealTimeMixing()
• run()
• pause()
• resume()
• stop()
• release()
• isMoving()

Multi-Servo Synchronous Motion Function

The following functions are batch processing functions for Servos, which can control the simultaneous operation of any specified number of servos.

• aiservoMultiRun()
• aiservoMultiPause()
• aiservoMultiResume()
• aiservoMultiStop()
• isAIServoMultiMoving()

AIServoFrame Class

Load, Save, and Set Servo86 Robot motion frames.

• AIServoFrame
• positions[]
• setPositions()
• playPositions()
• save()
• load()

AIServoOffset Class

Load, Save, and Set the Robot Servo Center offset fine adjustment parameters.

• AIServoOffset
• offsets[]
• setOffsets()
• save()
• load()

AIServoFrameRobotis Class

Supports reading Robot motion files generated by ROBOTIS motion editing software (RoboPlus Motion) to set and play robot motion.

• AIServoFrameRobotis
• positions[]
• setPositions()
• playPositions()
• save()
• load()

Advanced Servo Control Function

The interpolation method of Servo motion trajectory can be specified to achieve the effect of smoothing Robot motion.

• aiservoBeginSplineMotion()
• aiservoEndSplineMotion()

Limitations

The AIServo86 library uses the internal timer of 86Duino when it operates, and the TimerWDT library also uses the timer. Therefore, in order to avoid conflicts between the libraries, only one of these two libraries can be used at a time.

Demonstration Video

Libraries Reference Home

The text of the 86Duino reference is a modification of the Arduino reference and is licensed under a Creative Commons Attribution-ShareAlike 3.0 License. Code samples in the reference are released into the public domain.