aiservoEndSplineMotion()

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#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();

}