Manual

Syntax: ServoNonTimeCtr (channel, cmdValue);

Parameter: short channel; // 0, 1, 2, 3, 4, or 5

short cmdValue; // Target Pulse Width (ms) * 2250

Return value: void

Remarks:

Please refer to the remarks under ServoTimeCtr.

See also: ServoTimeCtr

109 void ServoTimeCtrAll(short cmd1, short cmd2, short cmd3, short cmd4,

short cmd5, short cmd6, short timePeriod);

Description:

ServoTimeCtrAll sends the position control command to all 6 servo motor control channels

on the Sensing and Motion Controller (PMS5005) at the same time. The command includes

the target position commands and the time period to execute the command. The current

trajectory planning method for time control is linear.

Syntax: ServoTimeCtrAll (cmd1, cmd2, cmd3, cmd4, cmd5, cmd6, timePeriod);

Parameter: short cmd1; // Target position for channel #1

short cmd2; // Target position for channel #2

short cmd3; // Target position for channel #3

short cmd4; // Target position for channel #4

short cmd5; // Target position for channel #5

short cmd6; // Target position for channel #6

short timePeriod; // Executing time in milliseconds

Return value: void

Remarks:

1. Please refer to the remarks under ServoTimeCtr.

2. When some servo motors are not under controlled, their command values should be

set as -32768 (0x8000). That means NO_CONTROL.