Manual

Copyright © Dr Robot Inc. 2008
32
Parameter: short channel; // 0, 1, 2, 3, 4, or 5
Return value: void
Remarks:
All servo motor channels are disabled initially at system startup. They need to be enabled
explicitly before use.
106 void SetServoTrajectoryPlan(short channel, short TrajPlanMthod);
Description:
This function is obsolete.
107 void ServoTimeCtr(short channel, short cmdValue, short timePeriods);
Description:
ServoTimeCtr sends the position control command to the specified servo motor control
channel on the Sensing and Motion Controller (PMS5005). The command includes the
target position command and the time period to execute the command. The current
trajectory planning method for time control is linear.
Syntax: ServoTimeCtr (channel, cmdValue, timePeriod);
Parameter; short channel; // 0, 1, 2, 3, 4, or 5
short cmdValue; // Target Pulse Width (ms) * 2250
short timePeriod; // Executing time in milliseconds
Return value: void
Remarks:
1. Target position value for cmdValue = (Pulse width in millisecond) * 2250.
2. Usually, a standard remote control servo motor expects to get the specified pulse
width in every 20 milliseconds in order to hold the corresponding angle position.
The pulse width value in millisecond for 0˚, 90˚ and 180˚ are servo manufacturer
and model dependant, they are around 1ms, 1.5ms and 2.0ms respectively for most
common servos. Experiments are required to obtain the exact value which varies
for different servo motors.
108 void ServoNonTimeCtr(short channel, short cmdValue);
Description:
ServoNonTimeCtr sends the position control command to the specified servo motor
control channel on the Sensing and Motion Controller (PMS5005). The command includes
the target position command without specific execution time period. The motion controller
will send the desired pulse width to the servo motor right away.