ICS (Serial Servo)

Digital I/O
Analog I/O
Advanced I/O
Time
Math
Trigonometry
Random Numbers
Bits and Bytes
Interrupts
Serial Comm.

Ethernet
Servo Motor
Stepping Motor
Character LCD
SPI
I²C (Wire)
SD Card
SD (File Operations)
Periodic Operation
Clock (RTC)
PPG (Pulse Generator)
WiFiEsp
ICS (Serial Servo)

Overview
Task
Queue
Timer
Interrupt Management

This library ported BizanNishimura's ICS library for GR-ROSE. You can easily control the KRS series serial servo made by Kondo Kagaku. Please refer to the GitHub README for the API specification. To use, specify #include <ICS.h>. Only sample programs are listed

This sample acquires the position while rotating the ID0 and ID1 servos connected to Serial1. It is synchronous control.

#include <Arduino.h>
#include <ICS.h>

IcsController ICS(Serial1);
IcsServo servo1;
IcsServo servo2;
 
void setup() {
 
  Serial.begin(115200);
 
  ICS.begin();
  servo1.attach(ICS, 0x00);
  servo2.attach(ICS, 0x01);
 
  servo1.setPosition(7500-4000);
  servo2.setPosition(7500+4000);
 
  delay(1000);
}
 
void loop() {
 
  for(int position=-4000; position<=4000; position+=100){
 
    Serial.print(position); Serial.print("\t");
    Serial.print(servo1.setPosition(7500+position)); Serial.print("\t");
    Serial.print(servo2.setPosition(7500-position)); Serial.print("\n");
 
    delay(20);
  }
  for(int position=-4000; position<=4000; position+=100){
 
    Serial.print(position); Serial.print("\t");
    Serial.print(servo1.setPosition(7500-position)); Serial.print("\t");
    Serial.print(servo2.setPosition(7500+position)); Serial.print("\n");
 
    delay(20);
  }
}

This sample acquires the position while rotating the ID0 and ID1 servos connected to Serial1. It is asynchronous control.

#include <Arduino.h>
#include <ICS.h>

IcsController ICS(Serial1);
IcsServo servo1;
IcsServo servo2;
 
void setup() {
 
  Serial.begin(115200);
 
  ICS.begin();
  servo1.attach(ICS, 0x00);
  servo2.attach(ICS, 0x01);
 
  servo1.setPosition(7500-4000);
  servo2.setPosition(7500+4000);
 
  delay(1000);
}
 
void loop() {
 
  for(int position=-4000; position<=4000; position+=100){
    servo1.requestPosition(7500+position);
    servo2.requestPosition(7500-position);
 
    while(!ICS.isReady())
    {
        ICS.loop();
        ; // Do any other process while communicating!
    }
 
    Serial.print(position); Serial.print("\t");
    Serial.print(servo1.position); Serial.print("\t");
    Serial.print(servo2.position); Serial.print("\n");
 
    delay(20);
  }
  for(int position=-4000; position<=4000; position+=100){
    servo1.requestPosition(7500-position);
    servo2.requestPosition(7500+position);
 
    while(!ICS.isReady())
    {
        ICS.loop();
        ; // Do any other process while communicating!
    }
 
    Serial.print(position); Serial.print("\t");
    Serial.print(servo1.position); Serial.print("\t");
    Serial.print(servo2.position); Serial.print("\n");
 
    delay(20);
  }
}