AIServo.setRealTimeMixing()

[AIServo86]

説明

Set the servo offset angle dynamically.

When the servo is running, the offset value set by this function will be added to the target angle of the servo in real time so that the original target angle will have a positive or negative deviation. This function can be used by robots with sensors (gyroscope or accelerometer) to receive feedback values so that the feedback values can be instantly reflected in the robot’s motion.

Syntax

servo.setRealTimeMixing(value)

Parameters

• servo: the variable of AIServo type.
• setRealTimeMixing: the offset angle, in degrees.

Returns

None.

Example

#include <AIServo86.h>
 
AIServoPort(ROBOTIS, AX12) bus;
AIServo myservo;
unsigned long_time = 0L;
 
void setup()
{
   bus.begin(Serial3, 1000000);
   myservo. attach(bus, 3);
}
 
void loop()
{
   myservo.setPosition(300); // Set target angle: 300 degrees
   myservo.run(); // start the servo
   delay(1500);
   double i = -1;
   _time = millis();
   myservo.setPosition(125, 3000); // Set target angle: 125 degrees, time spent: 3 seconds
   myservo.run(); // start the servo
   while(myservo. isMoving() == true)
   {
     if((millis() - _time) < 1000L)
     {
       i = i*2;
       if ( i < -100)
         i = -1;
       myservo.setRealTimeMixing(i);
     }
   }
   while(1);
}

See also

• attach()

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