Difference between revisions of "CanServo/Set Target Position on Servo Mode"

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(Created page with " 다음 내용을 먼저 읽어주시기 바랍니다: * CanServo/Register/Write 목표 위치가 +60 deg 라고 하면: * POSITION_NEW = 8192 + 60 * 16384 / 360 = 0x2AAA...")
 
Line 17: Line 17:
** 'w' - message type: write 1 register
** 'w' - message type: write 1 register
** 0x45 - target servo id
** 0x45 - target servo id
** 0x1E - [[CanServo/POSITION_NEW]]
** 0x1E - address of [[CanServo/POSITION_NEW]]
** 0xAA - low byte of 0x2AAA
** 0xAA - low byte of 0x2AAA
** 0x2A - high byte of 0x2AAA
** 0x2A - high byte of 0x2AAA

Revision as of 15:43, 18 September 2021

다음 내용을 먼저 읽어주시기 바랍니다:

목표 위치가 +60 deg 라고 하면:

  • POSITION_NEW = 8192 + 60 * 16384 / 360 = 0x2AAA

서보 설정이 다음과 같다고 가정하면:

다음과 같은 CAN 2.0B 패킷을 발신합니다:

  • CAN ID = 0x123
  • DLC = 5
  • DATA
    • 'w' - message type: write 1 register
    • 0x45 - target servo id
    • 0x1E - address of CanServo/POSITION_NEW
    • 0xAA - low byte of 0x2AAA
    • 0x2A - high byte of 0x2AAA
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