aiservoEndSplineMotion()

#include "AIServo86.h"
AIServo Servo1;
AIServo Servo2;
AIServo Servo3;
AIServoPort(ROBOTIS, AX12) bus;
AIServoFrame Frames[3];
unsigned long playtime[3] = {500, 800, 300};
void setup() {
  Servo1.attach(bus, 21); Servo2.attach(bus, 22); Servo3.attach(bus, 23);
  Frames[0].positions[0] = 150; Frames[0].positions[1] = 150; Frames[0].positions[2] = 130;
  Frames[1].positions[0] = 240; Frames[1].positions[1] = 145; Frames[1].positions[2] = 180;
  Frames[2].positions[0] = 240; Frames[2].positions[1] = 160; Frames[2].positions[2] = 180;
  Serial.println("Natural CUBIC");
}
 
void loop() {
  aiservoBeginSplineMotion(NATURAL_CUBIC, Frames, playtime, 3);
  for (int i=0; i<3; i++) {
    Frames[i].playPositions(playtime[i]);
    while(isAIServoMultiMoving() == true);
  }
  aiservoEndSplineMotion();
}