SDK API Reference Manual

Copyright © 2007, Dr Robot Inc. All Rights Reserved. www.DrRobot.com
- 32 -
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.
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