servoEndSplineMotion()

描述

可關閉由 servoBeginSplineMotion() 開啟的曲線插補功能。86Duino IDE 從 Coding 300 開始支援此函式。

語法


servoEndSplineMotion()

參數

回傳

範例

#include "Servo86.h"
Servo Servo1;
Servo Servo2;
Servo Servo3;

ServoFrame Frames[3];
unsigned long playtime[3] = {200, 500, 100};
void setup() {
  Servo1.attach(21); Servo2.attach(22); Servo3.attach(23);
  Frames[0].positions[0] = 1500; Frames[0].positions[1] = 1500; Frames[0].positions[2] = 1310;
  Frames[1].positions[0] = 2040; Frames[1].positions[1] = 1450; Frames[1].positions[2] = 1840;
  Frames[2].positions[0] = 2040; Frames[2].positions[1] = 1060; Frames[2].positions[2] = 1840;
  Frames[0].playPositions(playtime[0]);
  Serial.println("Natural CUBIC");
}

void loop() {
  servoBeginSplineMotion(NATURAL_CUBIC, Frames, playtime, 3);
  // 以下播放的動作將有曲線插補的平滑化效果
  for (int i=0; i<3; i++) {
    Frames[i].playPositions(playtime[i]);
    while(isServoMultiMoving() == true);
  }
  servoEndSplineMotion();  // 關閉曲線插補功能
}

See also

attach()
ServoFrame
positions[]
playPositions()
isServoMultiMoving()
servoBeginSplineMotion()


函式庫參考主頁面

The text of the 86Duino reference is a modification of the Arduino reference, and is licensed under a Creative Commons Attribution-ShareAlike 3.0 License. Code samples in the reference are released into the public domain.