Keuronde/Feetech_PlateformIO
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Envoi de la vitesse en direct vers le registre

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This commit is contained in:
Samuel 2025-08-12 20:24:12 +02:00
parent 3103c237df
commit 2f5bd67b4e
1 changed files with 10 additions and 2 deletions
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12
src/main.cpp
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@ -120,7 +120,7 @@ enum etat_t mouvement_servomoteur(){
static int vitesse=500;
static int temps_pas_ms = 0;
static int temps_aff_ms = 0;
int vitesse_lue;
int vitesse_lue, vitesse_tmp, neg;
int commande_moteur;
char tampon[200];
/// Toutes les 500 ms
@ -129,8 +129,16 @@ enum etat_t mouvement_servomoteur(){
// On avance ou recule de d'un pas
vitesse = -vitesse;
vitesse_tmp = vitesse;
neg = 0;
if(vitesse_tmp < 0){
vitesse_tmp = -vitesse_tmp;
neg = 1;
}
sms_sts.writeWord(SERVO_ID, 0x2E, vitesse_tmp | neg << 15);
//sms_sts.writeByte(SERVO_ID, position, 4800);
sms_sts.WriteSpe(SERVO_ID, vitesse);
}
if(millis() - temps_aff_ms > 10 ){