Tutorial V: ST3215 Serial Bus Servo Control Demo
Modules Usage Tutorial
- How To Install Arduino IDE
- Tutorial I: Motor With Encoder Control Demo
- Tutorial II: Motor With Encoder Control Demo 2
- Tutorial III: Motor With Encoder Control Demo 3
- Tutorial IV: Motor Without Encoder Control Demo
- Tutorial V: ST3215 Serial Bus Servo Control Demo
- Tutorial VI: PWM Servo Control Demo
- Tutorial VII: IMU Data Reading Demo
- Tutorial VIII: SD Card Reading Demo
- Tutorial IX: INA219 Voltage And Current Monitoring Demo
- Tutorial X: OLED Screen Control Demo
- Tutorial XI Lidar and Publishing Lidar Topics in ROS2
- General Driver for Robots WIKI Main Page
ST3215 Serial Bus Servo
ST3215 is a serial bus servo with large torque, and you can refer to the link to view it. The demo about how to easily control the servo is provided as follows.
Demo
Upload Demo
Firstly, you need to download the dependency library. After downloading, you need to extract it to the path of C:\Users\username\AppData\Local\Arduino15\libraries.
After downloading the zip package, open Servo.ino, connect the multifunctional driver board to the computer with a USB cable (here the Type-C port of the USB of the multifunctional driver board is plugged in), click "Tools" -> "Ports", and then click the new COM (COM26 in my case). Click on "Tools" → "Ports", and then click on the new COM.
In Arduino IDE, click "Tools" → "Development Board" → "ESP32" → "ESP32 Dev Module". Upload the demo after selecting the development board and the port. After uploading the demo, connect the serial bus servo to the ST3215 serial bus servo interface on the driver board, connect the XH2.54 power supply interface to the power supply, and run the demo, you can see the servo will swing back and forth.
Demo Analysis
#include <SCServo.h>
SMS_STS st;
#define S_RXD 18 //Setting the Serial Receive Pins
#define S_TXD 19 //Setting the Serial Transmitting Pins
void setup()
{
//Initialize serial port communication, this serial port is used for communication between the USB cable and the serial monitor on the computer
Serial.begin(115200);
//Initializes serial port 1 communication for controlling the serial bus servo's; SERIAL_8N1 is the configuration data, parity, and stop bits; specifies the serial port pins
Serial1.begin(1000000, SERIAL_8N1, S_RXD, S_TXD);
//Set the serial port parameter of the SCServo object to Serial1, indicating that the 1000000 serial port is used to control the servo
st.pSerial = &Serial1;
delay(1000);
}
void loop()
{
st.WritePosEx(1, 4095, 3400, 50); //Set the position, speed and acceleration of servo 1 with a delay of 2s
delay(2000);
st.WritePosEx(1, 2000, 1500, 50); //Set the position, speed and acceleration of servo 1 with a delay of 2s
delay(2000);
}