CanServo/Set Target Position on Multi-Turn Mode

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Revision as of 03:23, 18 September 2021 by Choiyh (talk | contribs) (Created page with " 다음 내용을 먼저 읽어주시기 바랍니다: * CanServo/Register/Write 목표 위치가 1000 도 라고 하면: * 1000 deg = 360 x 2 + 280 * 280 deg = 280 * 163...")

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다음 내용을 먼저 읽어주시기 바랍니다:

CanServo/Register/Write

목표 위치가 1000 도 라고 하면:

1000 deg = 360 x 2 + 280
280 deg = 280 * 16384 / 360 = 12743 = 0x31C7
TURN NEW = 2 = 0x0002
POSITION NEW = 12743 = 0x31C7

서보 설정이 다음과 같다면:

CanServo/MODE/CAN = CAN 2.0B
CanServo/ID2 = 0x123
CanServo/ID1 = 0x45

다음 내용을 가지는 CAN 2.0B 패킷을 발신합니다:

CAN ID = 0x123
DLC = 8
DATA
- 'W' - message type: write 2 register
- 0x45 - target servo id
- 0x24 - CanServo/TURN_NEW
- 0x02 - low byte of 0x0002
- 0x00 - high byte of 0x0002
- 0x1E - CanServo/POSITION_NEW
- 0xC7 - low byte of 0x31C7
- 0x31 - high byte of 0x31C7

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