aiservoEndSplineMotion()

描述

關閉由 aiservoBeginSplineMotion() 開啟的曲線插補功能。此功能在 Coding 315 以後開始支援。

語法


aiservoEndSplineMotion()


參數

無

回傳

無

範例

#include "AIServo86.h"
AIServo Servo1;
AIServo Servo2;
AIServo Servo3;
AIServoPort(ROBOTIS, AX12) bus;
AIServoFrame Frames[3];
unsigned long playtime[3] = {500, 800, 300};
void setup() {
  Servo1.attach(bus, 21); Servo2.attach(bus, 22); Servo3.attach(bus, 23);
  Frames[0].positions[0] = 150; Frames[0].positions[1] = 150; Frames[0].positions[2] = 130;
  Frames[1].positions[0] = 240; Frames[1].positions[1] = 145; Frames[1].positions[2] = 180;
  Frames[2].positions[0] = 240; Frames[2].positions[1] = 160; Frames[2].positions[2] = 180;
  Serial.println("Natural CUBIC");
}

void loop() {
  aiservoBeginSplineMotion(NATURAL_CUBIC, Frames, playtime, 3);
  for (int i=0; i<3; i++) {
    Frames[i].playPositions(playtime[i]);
    while(isAIServoMultiMoving() == true);
  }
  aiservoEndSplineMotion();
}

See also

－ attach()
－ AIServoFrame
－ positions[]
－ playPositions()
－ isAIServoMultiMoving()
－ aiservoBeginSplineMotion()

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.