go-servoc

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servoc

Command line tool to interact with JMC IHSV57 servos.

Uploading you config is as easy as:

servo -c config.yaml -p /dev/cu.serial

The full configuration looks like this:

motor_encoder:
  line: 0
eletronic_gear:
  molecular: 0
  denominator: 0

input_offset: 0
weight_coefficient: 0

control_mode: pos_pulse_ccw_dir
# control_mode: pos_pulse_cw_dir
# control_mode: pos_dipulse_ccw_dir
# control_mode: pos_dipulse_cw_dir
# control_mode: pos_digital
# control_mode: pos_ramp_enable
# control_mode: vel_analog_cw
# control_mode: vel_analog_ccw
# control_mode: vel_digital_pwm_half
# control_mode: vel_digital_pwm_inversion
# control_mode: vel_ramp_enable
# control_mode: torque_analog_cw
# control_mode: torque_analog_ccw
# control_mode: torque_digital_pwm_half
# control_mode: torque_digital_pwm_inversion

mode2:
  control: external
  # control: internal
  pos_filter: false
  vel_filter: false

pos_loop:
  pp: 0
  pd: 0
  pf: 0
  pos_filter: 0
  pos_error: 0

vel_loop:
  vp: 0
  continous_vp: 0
  vi: 0
  vel_limit: 0
  vd: 0
  acc: 0
  aff: 0
  dec: 0
  vel_filter: 0

current_loop:
  cp: 0
  continous_current: 0
  ci: 0
  limit_current: 0

threshold_setting:
  temp_limit: 0
  over_voltage_limit: 0
  under_voltage_limit: 0
  i2t_limit: 0

For a more realistic configuration check out the config from Sebastian End.

Where to ask questions

via gitter

via git issue

via twitter

License

All code and data is released under the Apache License 2.0.