User manual

4. When some motors are not under controlled, their command values should be set as

-32768 (0x8000). That means NO_CONTROL.

See also: DcMotorPwmNonTimeCtr

III.2.2 RC Servo Motor Control

104 void EnableServo (short channel);

105 void DisableServo (short channel);

Description:

EnableServo enables the specified servo motor control channel.

DisableServo disables the specified servo motor control channel.

Syntax: EnableServo (channel);

DisableServo (channel);

Parameter: short channel; // 0, 1, 2, 3, 4, or 5

Return value: void

Remarks:

All servo motor channels are disabled initially at system startup. They need to be enabled

explicitly before use.

106 void SetServoTrajectoryPlan(short channel, short TrajPlanMthod);

Description:

This function is obsolete.

107 void ServoTimeCtr(short channel, short cmdValue, short timePeriods);

Description:

ServoTimeCtr 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 and the time period to execute the command. The current

trajectory planning method for time control is linear.

Syntax: ServoTimeCtr (channel, cmdValue, timePeriod);

Parameter; short channel; // 0, 1, 2, 3, 4, or 5

short cmdValue; // Target Pulse Width (ms) * 2250