servoEndSplineMotion()

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#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);

  // 以下播放的动作将有曲线插补的平滑化效果

  for (int i=0; i<3; i++) {

    Frames[i].playPositions(playtime[i]);

    while(isServoMultiMoving() == true);

  }

  servoEndSplineMotion();  // 关闭曲线插补功能

}