Servo mode
/enableServoMode (int)motorID (bool)enable
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| enable | 0-1 | 1:Enable, 0:Disable |
Executable timing
Always
Description
Turns on/off the servo mode (position tracking mode). To avoid sudden movement, the current position at the moment of activation is set to the target position.
It is not possible to send other motor control commands such as /run or /goTo while operating in this mode.
/setServoParam (int)motorID (float)kP (float)kI (float)kD
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| kP | 0.0- | Proportional control gain |
| kI | 0.0- | Integral control gain |
| kD | 0.0- | Differential control gain |
Executable timing
Always
Description
Adjusts the PID control gain.
Initial value
| Argument | Initial value |
|---|---|
| kP | 0.06 |
| kI | 0 |
| kD | 0 |
/getServoParam (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Response
/servoParam (int)motorID (float)kP (float)kI (float)kD| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| kP | 0.0- | Proportional control gain |
| kI | 0.0- | Integral control gain |
| kD | 0.0- | Differential control gain |
/setTargetPosition (int)motorID (int)position
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| position | -2,097,152 - 2,097,151 | target position |
Executable timing
Always
Description
Sets the target position in servo mode.
/setTargetPositionList (int)position1 (int)position2 (int)position3 (int)position4
Argument
| Argument | Range | Description |
|---|---|---|
| position[1-4] | -2,097,152 - 2,097,151 | target position |
Executable timing
Always
Description
Sets the target positions of the servo mode for all 4 axes at once.