positions[]

Posted by On 10 / 19 / 2016 0 Comment

Description

Stores user-defined robot motion frames, namely the servo angles for all channels.

This array stores the servo angles for all channels, and its values can be specified by the user. The first element in position[] represents the AIServo angle for the first channel, the second element represents the AIServo angle for the second channel, and so on.

Servo angles for up to 64 channels can be specified.

Syntax

servoframe.positions[channel]

Parameters

servoframe: A variable of type AIServoFrame. channel: Range: 0 ~ 63. Its value represents the Servo of the nth channel. Please see the example below for explanation.

Postback

None

Example

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#include <AIServo86.h>

  

AIServoPort(ROBOTIS, AX12) bus;

AIServo myservo0;

AIServo myservo1;

AIServo myservo2;

AIServoFrame myframe; //Declare a Frame object

  

void setup()

{

  bus.begin(Serial1, 1000000);

  myservo0.attach(bus, 9);

  myservo1.attach(bus, 11);

  myservo2.attach(bus, 5);

  myframe.positions[0] = 180; // Set the Frame content

  myframe.positions[1] = 130;

  myframe.positions[2] = 200;

  // Set the servo to the position specified by the Frame in 500ms (myservo0 rotates to position[0]

  // position, myservo1 rotates to position[1] position, myservo2 rotates to position[2] position)

  myframe.setPositions(500, myservo0, myservo1, myservo2);

  aiservoMultiRun(); // rotate all servos according to the set value

}

  

void loop() {}

See also

– setPostions

Library Reference Home Page

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.