User Manual

5.h.2. Windows C

For example C code that shows how to control the Maestro using its serial interface in Microsoft

Windows, download MaestroSerialExampleCWindows.zip [https://www.pololu.com/file/download/

MaestroSerialExampleCWindows.zip?file_id=0J545] (4k zip). This zip archive contains a Microsoft Visual

C++ 2010 Express project that shows how to send a Set Target command and also a Get Position

command. It can also be compiled with MinGW. The Maestro’s serial mode needs to be set to

“USB Dual Port” for this code to work. This example is like the previous example except it does the

serial communication using Windows-specific functions like CreateFile and SetCommState. See the

comments in the source code for more details.

5.h.3. PIC18F4550

The following example code for the PIC18F4550 was submitted to us by customer Ney Palma

Castillo. It is intended to be compiled with the PIC MCU C Compiler [http://www.ccsinfo.com/

content.php?page=compilers]. The code shows how to control a Maestro via serial commands using pins

C6 and C7. It first commands the channel 0 servo to go to its minimum position and then, one second

later, to go to its neutral position. Please see Section 5.e for information on connecting the PIC to the

Maestro and set the Maestro’s serial mode to “UART, detect baud rate.”

_setmode(fd, _O_BINARY);

#else

struct termios options;

tcgetattr(fd, &options);

options.c_iflag &= ~(INLCR | IGNCR | ICRNL | IXON | IXOFF);

options.c_oflag &= ~(ONLCR | OCRNL);

options.c_lflag &= ~(ECHO | ECHONL | ICANON | ISIG | IEXTEN);

tcsetattr(fd, TCSANOW, &options);

#endif

int position = maestroGetPosition(fd, 0);

printf("Current position is %d.\n", position);

int target = (position < 6000) ? 7000 : 5000;

printf("Setting target to %d (%d us).\n", target, target/4);

maestroSetTarget(fd, 0, target);

close(fd);

return 0;

}

5. Serial Interface Page 63 of 99