Difference between revisions of "CanServo/Protocol/V1.7"
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| Line 19: | Line 19: | ||
* Message | * Message | ||
** Host -> Servo | ** Host -> Servo | ||
*** ZPST, ID2 (4), ID1 (1), < set position : | *** ZPST, ID2 (4), ID1 (1), < set position : 2 byte, signed 16 bits integer, 8192=center, resolution 16384 = 360 deg > | ||
** Host -> Servo | ** Host -> Servo | ||
*** ZPGS, ID2 (4), ID1 (1), <start index : 2 byte>, <N: 2 byte> | *** ZPGS, ID2 (4), ID1 (1), <start index : 2 byte>, <N: 2 byte> | ||
Revision as of 01:49, 25 September 2025
Pot Calibration
- Process
- Cali Unlock:
- Write Reg 0x72: 40092, 40017, 40069
- Cali Start: Write 0x70, 3848
- Cali Set Position: ZPST message
- Cali End
- Write 0x70, 3849
- delay 1 sec
- Cali Unlock:
- Erase Cali Table
- Unlock
- Erase
- Write 0x70, 3843
- Wait 100 msec
- Reset
- Message
- Host -> Servo
- ZPST, ID2 (4), ID1 (1), < set position : 2 byte, signed 16 bits integer, 8192=center, resolution 16384 = 360 deg >
- Host -> Servo
- ZPGS, ID2 (4), ID1 (1), <start index : 2 byte>, <N: 2 byte>
- 서보는 ZPVS 메시지를 보냅니다.
- ZPGS, ID2 (4), ID1 (1), <start index : 2 byte>, <N: 2 byte>
- Servo -> Host
- ZPVS, ID2 (4), ID1 (1), <start index : 2 byte>, <N: 2 byte>, <Pi : setted position>, <Vi : position sensor value>, ...
- 서보는 최대 N개의 데이터를 보냅니다.
- 주의: 메시지 전송 버퍼의 한계 등을 확인하여 개수를 제한해야 합니다.
- 서보는 최대 N개의 데이터를 보냅니다.
- ZPVS, ID2 (4), ID1 (1), <start index : 2 byte>, <N: 2 byte>, <Pi : setted position>, <Vi : position sensor value>, ...
- Host -> Servo