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Delete servoTester.ino

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August Quint 2020-02-05 16:42:14 +01:00 committed by GitHub
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commit 1fca8adf5b
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EspSoftwareSerial/examples/servoTester/servoTester.ino
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#include <ESP8266WiFi.h>
#include <SoftwareSerial.h>
SoftwareSerial swSer;
byte buf[10] = { 0xFA, 0xAF,0x00,0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0xED };
byte cmd[10] = { 0xFA, 0xAF,0x00,0x00,0x00, 0x00, 0x00, 0x00, 0x00, 0xED };
byte ver[10] = { 0xFC, 0xCF,0x00,0xAA,0x41, 0x16, 0x51, 0x01, 0x00, 0xED };
void setup() {
delay(2000);
Serial.begin(115200);
Serial.println("\nAlpha 1S Servo Tester");
swSer.begin(115200, SWSERIAL_8N1, 12, 12, false, 256);
}
void loop() {
for (int i = 1; i <= 32; i++) {
GetVersion(i);
delay(100);
}
SetLED(1, 0);
GoPos(1, 0, 50);
delay(1000);
GoPos(1, 90, 50);
delay(1000);
GoPos(1, 100, 50);
delay(1000);
SetLED(1, 1);
delay(2000);
}
void GetVersion(byte id) {
memcpy(buf, cmd, 10);
buf[0] = 0xFC;
buf[1] = 0xCF;
buf[2] = id;
buf[3] = 0x01;
SendCommand();
}
void GoPos(byte id, byte Pos, byte Time) {
memcpy(buf, cmd, 10);
buf[2] = id;
buf[3] = 0x01;
buf[4] = Pos;
buf[5] = Time;
buf[6] = 0x00;
buf[7] = Time;
SendCommand();
}
void GetPos(byte id) {
memcpy(buf, cmd, 10);
buf[2] = id;
buf[3] = 0x02;
SendCommand();
}
void SetLED(byte id, byte mode) {
memcpy(buf, cmd, 10);
buf[2] = id;
buf[3] = 0x04;
buf[4] = mode;
SendCommand();
}
void SendCommand() {
SendCommand(true);
}
void SendCommand(bool checkResult) {
byte sum = 0;
for (int i = 2; i < 8; i++) {
sum += buf[i];
}
buf[8] = sum;
ShowCommand();
swSer.flush();
swSer.enableTx(true);
swSer.write(buf, 10);
swSer.enableTx(false);
if (checkResult) checkReturn();
}
void ShowCommand() {
Serial.print(millis());
Serial.print(" OUT>>");
for (int i = 0; i < 10; i++) {
Serial.print((buf[i] < 0x10 ? " 0" : " "));
Serial.print(buf[i], HEX);
}
Serial.println();
}
void checkReturn() {
unsigned long startMs = millis();
while (((millis() - startMs) < 500) && (!swSer.available()));
if (swSer.available()) {
Serial.print(millis());
Serial.print(" IN>>>");
while (swSer.available()) {
byte ch = (byte)swSer.read();
Serial.print((ch < 0x10 ? " 0" : " "));
Serial.print(ch, HEX);
}
Serial.println();
}
}