commit fb94f7981b4f8422f6000e460e462908ba1c6c3c
Author: Samuel <samuel.kay@poivron-robotique.fr>
Date:   Sun Aug 10 16:32:27 2025 +0200

    Ping et lecture des registres lorsqu'un servo avec l'ID 1 est trouvé

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..89cc49c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch
diff --git a/Readme.md b/Readme.md
new file mode 100644
index 0000000..e69de29
diff --git a/platformio.ini b/platformio.ini
new file mode 100644
index 0000000..6f10430
--- /dev/null
+++ b/platformio.ini
@@ -0,0 +1,7 @@
+[env]
+platform = raspberrypi
+framework = arduino
+
+[env:pico]
+board = pico
+
diff --git a/src/HLSCL.cpp b/src/HLSCL.cpp
new file mode 100644
index 0000000..fe8230a
--- /dev/null
+++ b/src/HLSCL.cpp
@@ -0,0 +1,260 @@
+/*
+ * HLSCL.cpp
+ * 飞特HTS/HLS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#include "HLSCL.h"
+
+HLSCL::HLSCL()
+{
+	End = 0;
+}
+
+HLSCL::HLSCL(u8 End):SCSerial(End)
+{
+}
+
+HLSCL::HLSCL(u8 End, u8 Level):SCSerial(End, Level)
+{
+}
+
+int HLSCL::WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC, u16 Torque)
+{
+	if(Position<0){
+		Position = -Position;
+		Position |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, Position);
+	Host2SCS(bBuf+3, bBuf+4, Torque);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return genWrite(ID, HLSCL_ACC, bBuf, 7);
+}
+
+int HLSCL::RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC, u16 Torque)
+{
+	if(Position<0){
+		Position = -Position;
+		Position |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, Position);
+	Host2SCS(bBuf+3, bBuf+4, Torque);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return regWrite(ID, HLSCL_ACC, bBuf, 7);
+}
+
+void HLSCL::SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[], u16 Torque[])
+{
+    u8 offbuf[7*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		if(Position[i]<0){
+			Position[i] = -Position[i];
+			Position[i] |= (1<<15);
+		}
+		if(ACC){
+			offbuf[i*7] = ACC[i];
+		}else{
+			offbuf[i*7] = 0;
+		}
+        Host2SCS(offbuf+i*7+1, offbuf+i*7+2, Position[i]);
+        Host2SCS(offbuf+i*7+3, offbuf+i*7+4, Torque[i]);
+        Host2SCS(offbuf+i*7+5, offbuf+i*7+6, Speed[i]);
+    }
+    syncWrite(ID, IDN, HLSCL_ACC, offbuf, 7);
+}
+
+void HLSCL::SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[], u16 Torque[])
+{
+    u8 offbuf[7*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		if(Speed[i]<0){
+			Speed[i] = -Speed[i];
+			Speed[i] |= (1<<15);
+		}
+		if(ACC){
+			offbuf[i*7] = ACC[i];
+		}else{
+			offbuf[i*7] = 0;
+		}
+        Host2SCS(offbuf+i*7+1, offbuf+i*7+2, 0);
+        Host2SCS(offbuf+i*7+3, offbuf+i*7+4, Torque[i]);
+        Host2SCS(offbuf+i*7+5, offbuf+i*7+6, Speed[i]);
+    }
+    syncWrite(ID, IDN, HLSCL_ACC, offbuf, 7);
+}
+
+int HLSCL::WheelMode(u8 ID)
+{
+	return writeByte(ID, HLSCL_MODE, 1);		
+}
+
+int HLSCL::EleMode(u8 ID)
+{
+	return writeByte(ID, HLSCL_MODE, 2);		
+}
+
+int HLSCL::WriteSpe(u8 ID, s16 Speed, u8 ACC, u16 Torque)
+{
+	if(Speed<0){
+		Speed = -Speed;
+		Speed |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, 0);
+	Host2SCS(bBuf+3, bBuf+4, Torque);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return genWrite(ID, HLSCL_ACC, bBuf, 7);
+}
+
+int HLSCL::WriteEle(u8 ID, s16 Torque)
+{
+	if(Torque<0){
+		Torque = -Torque;
+		Torque |= (1<<15);
+	}
+	return writeWord(ID, HLSCL_GOAL_TORQUE_L, Torque);
+}
+
+int HLSCL::EnableTorque(u8 ID, u8 Enable)
+{
+	return writeByte(ID, HLSCL_TORQUE_ENABLE, Enable);
+}
+
+int HLSCL::unLockEprom(u8 ID)
+{
+	EnableTorque(ID, 0);
+	return writeByte(ID, HLSCL_LOCK, 0);
+}
+
+int HLSCL::LockEprom(u8 ID)
+{
+	return writeByte(ID, HLSCL_LOCK, 1);
+}
+
+int HLSCL::CalibrationOfs(u8 ID)
+{
+	EnableTorque(ID, 0);
+	unLockEprom(ID);
+	return Recal(ID);
+}
+
+int HLSCL::FeedBack(int ID)
+{
+	int nLen = Read(ID, HLSCL_PRESENT_POSITION_L, Mem, sizeof(Mem));
+	if(nLen!=sizeof(Mem)){
+		return -1;
+	}
+	return nLen;
+}
+
+int HLSCL::ReadPos(int ID)
+{
+	int Pos = -1;
+	if(ID==-1){
+		Pos = Mem[HLSCL_PRESENT_POSITION_H-HLSCL_PRESENT_POSITION_L];
+		Pos <<= 8;
+		Pos |= Mem[HLSCL_PRESENT_POSITION_L-HLSCL_PRESENT_POSITION_L];
+	}else{
+		Pos = readWord(ID, HLSCL_PRESENT_POSITION_L);
+	}
+	if(Pos&(1<<15)){
+		Pos = -(Pos&~(1<<15));
+	}
+	
+	return Pos;
+}
+
+int HLSCL::ReadSpeed(int ID)
+{
+	int Speed = -1;
+	if(ID==-1){
+		Speed = Mem[HLSCL_PRESENT_SPEED_H-HLSCL_PRESENT_POSITION_L];
+		Speed <<= 8;
+		Speed |= Mem[HLSCL_PRESENT_SPEED_L-HLSCL_PRESENT_POSITION_L];
+	}else{
+		Speed = readWord(ID, HLSCL_PRESENT_SPEED_L);
+	}
+	if(Speed&(1<<15)){
+		Speed = -(Speed&~(1<<15));
+	}	
+	return Speed;
+}
+
+int HLSCL::ReadLoad(int ID)
+{
+	int Load = -1;
+	if(ID==-1){
+		Load = Mem[HLSCL_PRESENT_LOAD_H-HLSCL_PRESENT_POSITION_L];
+		Load <<= 8;
+		Load |= Mem[HLSCL_PRESENT_LOAD_L-HLSCL_PRESENT_POSITION_L];
+	}else{
+		Load = readWord(ID, HLSCL_PRESENT_LOAD_L);
+	}
+	if(Load&(1<<10)){
+		Load = -(Load&~(1<<10));
+	}
+	return Load;
+}
+
+int HLSCL::ReadVoltage(int ID)
+{	
+	int Voltage = -1;
+	if(ID==-1){
+		Voltage = Mem[HLSCL_PRESENT_VOLTAGE-HLSCL_PRESENT_POSITION_L];	
+	}else{
+		Voltage = readByte(ID, HLSCL_PRESENT_VOLTAGE);
+	}
+	return Voltage;
+}
+
+int HLSCL::ReadTemper(int ID)
+{	
+	int Temper = -1;
+	if(ID==-1){
+		Temper = Mem[HLSCL_PRESENT_TEMPERATURE-HLSCL_PRESENT_POSITION_L];	
+	}else{
+		Temper = readByte(ID, HLSCL_PRESENT_TEMPERATURE);
+	}
+	return Temper;
+}
+
+int HLSCL::ReadMove(int ID)
+{
+	int Move = -1;
+	if(ID==-1){
+		Move = Mem[HLSCL_MOVING-HLSCL_PRESENT_POSITION_L];	
+	}else{
+		Move = readByte(ID, HLSCL_MOVING);
+	}
+	return Move;
+}
+
+int HLSCL::ReadCurrent(int ID)
+{
+	int Current = -1;
+	if(ID==-1){
+		Current = Mem[HLSCL_PRESENT_CURRENT_H-HLSCL_PRESENT_POSITION_L];
+		Current <<= 8;
+		Current |= Mem[HLSCL_PRESENT_CURRENT_L-HLSCL_PRESENT_POSITION_L];
+	}else{
+		Current = readWord(ID, HLSCL_PRESENT_CURRENT_L);
+	}
+	if(Current&(1<<15)){
+		Current = -(Current&~(1<<15));
+	}	
+	return Current;
+}
+
+int HLSCL::ServoMode(u8 ID)
+{
+	return writeByte(ID, HLSCL_MODE, 0);		
+}
diff --git a/src/HLSCL.h b/src/HLSCL.h
new file mode 100644
index 0000000..1210d93
--- /dev/null
+++ b/src/HLSCL.h
@@ -0,0 +1,89 @@
+/*
+ * HLSCL.h
+ * 飞特HLS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#ifndef _HLSCL_H
+#define _HLSCL_H
+
+//内存表定义
+//-------EPROM(只读)--------
+#define HLSCL_MODEL_L 3
+#define HLSCL_MODEL_H 4
+
+//-------EPROM(读写)--------
+#define HLSCL_ID 5
+#define HLSCL_BAUD_RATE 6
+#define HLSCL_SECOND_ID 7
+#define HLSCL_MIN_ANGLE_LIMIT_L 9
+#define HLSCL_MIN_ANGLE_LIMIT_H 10
+#define HLSCL_MAX_ANGLE_LIMIT_L 11
+#define HLSCL_MAX_ANGLE_LIMIT_H 12
+#define HLSCL_CW_DEAD 26
+#define HLSCL_CCW_DEAD 27
+#define HLSCL_OFS_L 31
+#define HLSCL_OFS_H 32
+#define HLSCL_MODE 33
+
+//-------SRAM(读写)--------
+#define HLSCL_TORQUE_ENABLE 40
+#define HLSCL_ACC 41
+#define HLSCL_GOAL_POSITION_L 42
+#define HLSCL_GOAL_POSITION_H 43
+#define HLSCL_GOAL_TORQUE_L 44
+#define HLSCL_GOAL_TORQUE_H 45
+#define HLSCL_GOAL_SPEED_L 46
+#define HLSCL_GOAL_SPEED_H 47
+#define HLSCL_TORQUE_LIMIT_L 48
+#define HLSCL_TORQUE_LIMIT_H 49
+#define HLSCL_LOCK 55
+
+//-------SRAM(只读)--------
+#define HLSCL_PRESENT_POSITION_L 56
+#define HLSCL_PRESENT_POSITION_H 57
+#define HLSCL_PRESENT_SPEED_L 58
+#define HLSCL_PRESENT_SPEED_H 59
+#define HLSCL_PRESENT_LOAD_L 60
+#define HLSCL_PRESENT_LOAD_H 61
+#define HLSCL_PRESENT_VOLTAGE 62
+#define HLSCL_PRESENT_TEMPERATURE 63
+#define HLSCL_MOVING 66
+#define HLSCL_PRESENT_CURRENT_L 69
+#define HLSCL_PRESENT_CURRENT_H 70
+
+#include "SCSerial.h"
+
+class HLSCL : public SCSerial
+{
+public:
+	HLSCL();
+	HLSCL(u8 End);
+	HLSCL(u8 End, u8 Level);
+	int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0, u16 Torque = 0);//普通写单个舵机位置指令
+	int RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0, u16 Torque = 0);//异步写单个舵机位置指令(RegWriteAction生效)
+	void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[], u16 Torque[]);//同步写多个舵机位置指令
+	void SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[], u16 Torque[]);//同步写多个舵机速度指令
+	int ServoMode(u8 ID);//Servo模式
+	int WheelMode(u8 ID);//恒速模式
+	int EleMode(u8 ID);//恒力模式
+	int WriteSpe(u8 ID, s16 Speed, u8 ACC = 0, u16 Torque = 0);//恒速模式控制指令
+	int WriteEle(u8 ID, s16 Torque);//恒力模式控制指令
+	int EnableTorque(u8 ID, u8 Enable);//扭力控制指令
+	int unLockEprom(u8 ID);//eprom解锁
+	int LockEprom(u8 ID);//eprom加锁
+	int CalibrationOfs(u8 ID);//中位校准
+	int FeedBack(int ID);//反馈舵机信息
+	int ReadPos(int ID);//读位置
+	int ReadSpeed(int ID);//读速度
+	int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
+	int ReadVoltage(int ID);//读电压
+	int ReadTemper(int ID);//读温度
+	int ReadMove(int ID);//读移动状态
+	int ReadCurrent(int ID);//读电流
+private:
+	u8 Mem[HLSCL_PRESENT_CURRENT_H-HLSCL_PRESENT_POSITION_L+1];
+};
+
+#endif
\ No newline at end of file
diff --git a/src/INST.h b/src/INST.h
new file mode 100644
index 0000000..c152308
--- /dev/null
+++ b/src/INST.h
@@ -0,0 +1,51 @@
+/*
+ * INST.h
+ * 飞特串行舵机协议指令定义
+ * 日期: 2024.11.24
+ * 作者: txl
+ */
+
+#ifndef _INST_H
+#define _INST_H
+
+typedef	char s8;
+typedef	unsigned char u8;	
+typedef	unsigned short u16;	
+typedef	short s16;
+typedef	unsigned long u32;	
+typedef	long s32;
+
+enum SCS_ERR_LIST
+{
+    ERR_NO_REPLY = 1,
+    ERR_CRC_CMP  = 2,
+    ERR_SLAVE_ID = 3,
+	ERR_BUFF_LEN = 4,
+};
+
+#define INST_PING 0x01
+#define INST_READ 0x02
+#define INST_WRITE 0x03
+#define INST_REG_WRITE 0x04
+#define INST_REG_ACTION 0x05
+#define INST_SYNC_READ 0x82
+#define INST_SYNC_WRITE 0x83
+#define INST_RECOVERY 0x06
+#define INST_RESET 0x0A
+#define INST_CAL 0x0B
+
+//波特率定义
+#define	_1M 0
+#define	_0_5M 1
+#define	_250K 2
+#define	_128K 3
+#define	_115200 4
+#define	_76800 5
+#define	_57600 6
+#define	_38400 7
+#define	_19200 8
+#define	_14400 9
+#define	_9600 10
+#define	_4800 11
+
+#endif
\ No newline at end of file
diff --git a/src/SCS.cpp b/src/SCS.cpp
new file mode 100644
index 0000000..fbbe7bc
--- /dev/null
+++ b/src/SCS.cpp
@@ -0,0 +1,450 @@
+/*
+ * SCS.cpp
+ * 飞特串行舵机通信层协议程序
+ * 日期: 2024.12.21
+ * 作者: txl
+ */
+
+#include <stddef.h>
+#include "SCS.h"
+
+SCS::SCS()
+{
+	Level = 1;//除广播指令所有指令返回应答
+	u8Status = 0;
+}
+
+SCS::SCS(u8 End)
+{
+	Level = 1;
+	this->End = End;
+	u8Status = 0;
+}
+
+SCS::SCS(u8 End, u8 Level)
+{
+	this->Level = Level;
+	this->End = End;
+	u8Status = 0;
+}
+
+//1个16位数拆分为2个8位数
+//DataL为低位，DataH为高位
+void SCS::Host2SCS(u8 *DataL, u8* DataH, u16 Data)
+{
+	if(End){
+		*DataL = (Data>>8);
+		*DataH = (Data&0xff);
+	}else{
+		*DataH = (Data>>8);
+		*DataL = (Data&0xff);
+	}
+}
+
+//2个8位数组合为1个16位数
+//DataL为低位，DataH为高位
+u16 SCS::SCS2Host(u8 DataL, u8 DataH)
+{
+	u16 Data;
+	if(End){
+		Data = DataL;
+		Data<<=8;
+		Data |= DataH;
+	}else{
+		Data = DataH;
+		Data<<=8;
+		Data |= DataL;
+	}
+	return Data;
+}
+
+void SCS::writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun)
+{
+	u8 msgLen = 2;
+	u8 bBuf[6];
+	u8 CheckSum = 0;
+	bBuf[0] = 0xff;
+	bBuf[1] = 0xff;
+	bBuf[2] = ID;
+	bBuf[4] = Fun;
+	if(nDat){
+		msgLen += nLen + 1;
+		bBuf[3] = msgLen;
+		bBuf[5] = MemAddr;
+		writeSCS(bBuf, 6);
+		
+	}else{
+		bBuf[3] = msgLen;
+		writeSCS(bBuf, 5);
+	}
+	CheckSum = ID + msgLen + Fun + MemAddr;
+	u8 i = 0;
+	if(nDat){
+		for(i=0; i<nLen; i++){
+			CheckSum += nDat[i];
+		}
+		writeSCS(nDat, nLen);
+	}
+	writeSCS(~CheckSum);
+}
+
+//普通写指令
+//舵机ID，MemAddr内存表地址，写入数据，写入长度
+int SCS::genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen)
+{
+	rFlushSCS();
+	writeBuf(ID, MemAddr, nDat, nLen, INST_WRITE);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+//异步写指令
+//舵机ID，MemAddr内存表地址，写入数据，写入长度
+int SCS::regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen)
+{
+	rFlushSCS();
+	writeBuf(ID, MemAddr, nDat, nLen, INST_REG_WRITE);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+//异步写执行指令
+//舵机ID
+int SCS::RegWriteAction(u8 ID)
+{
+	rFlushSCS();
+	writeBuf(ID, 0, NULL, 0, INST_REG_ACTION);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+//同步写指令
+//舵机ID[]数组，IDN数组长度，MemAddr内存表地址，写入数据，写入长度
+void SCS::syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen)
+{
+	rFlushSCS();
+	u8 mesLen = ((nLen+1)*IDN+4);
+	u8 Sum = 0;
+	u8 bBuf[7];
+	bBuf[0] = 0xff;
+	bBuf[1] = 0xff;
+	bBuf[2] = 0xfe;
+	bBuf[3] = mesLen;
+	bBuf[4] = INST_SYNC_WRITE;
+	bBuf[5] = MemAddr;
+	bBuf[6] = nLen;
+	writeSCS(bBuf, 7);
+
+	Sum = 0xfe + mesLen + INST_SYNC_WRITE + MemAddr + nLen;
+	u8 i, j;
+	for(i=0; i<IDN; i++){
+		writeSCS(ID[i]);
+		writeSCS(nDat+i*nLen, nLen);
+		Sum += ID[i];
+		for(j=0; j<nLen; j++){
+			Sum += nDat[i*nLen+j];
+		}
+	}
+	writeSCS(~Sum);
+	wFlushSCS();
+}
+
+int SCS::writeByte(u8 ID, u8 MemAddr, u8 bDat)
+{
+	rFlushSCS();
+	writeBuf(ID, MemAddr, &bDat, 1, INST_WRITE);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+int SCS::writeWord(u8 ID, u8 MemAddr, u16 wDat)
+{
+	u8 bBuf[2];
+	Host2SCS(bBuf+0, bBuf+1, wDat);
+	rFlushSCS();
+	writeBuf(ID, MemAddr, bBuf, 2, INST_WRITE);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+//读指令
+//舵机ID，MemAddr内存表地址，返回数据nData，数据长度nLen
+int SCS::Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen)
+{
+	rFlushSCS();
+	writeBuf(ID, MemAddr, &nLen, 1, INST_READ);
+	wFlushSCS();
+	u8Error = 0;
+	if(!checkHead()){
+		u8Error = ERR_NO_REPLY;
+		return 0;
+	}
+	u8 bBuf[4];
+	u8Status = 0;
+	if(readSCS(bBuf, 3)!=3){
+		u8Error = ERR_NO_REPLY;
+		return 0;
+	}
+	if(bBuf[0]!=ID && ID!=0xfe){
+		u8Error = ERR_SLAVE_ID;
+		return 0;
+	}
+	if(bBuf[1]!=(nLen+2)){
+		u8Error = ERR_BUFF_LEN;
+		return 0;
+	}
+	int Size = readSCS(nData, nLen);
+	if(Size!=nLen){
+		u8Error = ERR_NO_REPLY;
+		return 0;
+	}
+	if(readSCS(bBuf+3, 1)!=1){
+		u8Error = ERR_NO_REPLY;
+		return 0;
+	}
+	u8 calSum = bBuf[0]+bBuf[1]+bBuf[2];
+	u8 i;
+	for(i=0; i<Size; i++){
+		calSum += nData[i];
+	}
+	calSum = ~calSum;
+	if(calSum!=bBuf[3]){
+		u8Error = ERR_CRC_CMP;
+		return 0;
+	}
+	u8Status = bBuf[2];
+	return Size;
+}
+
+//读1字节，超时返回-1
+int SCS::readByte(u8 ID, u8 MemAddr)
+{
+	u8 bDat;
+	int Size = Read(ID, MemAddr, &bDat, 1);
+	if(Size!=1){
+		return -1;
+	}else{
+		return bDat;
+	}
+}
+
+//读2字节，超时返回-1
+int SCS::readWord(u8 ID, u8 MemAddr)
+{	
+	u8 nDat[2];
+	int Size;
+	u16 wDat;
+	Size = Read(ID, MemAddr, nDat, 2);
+	if(Size!=2)
+		return -1;
+	wDat = SCS2Host(nDat[0], nDat[1]);
+	return wDat;
+}
+
+//Ping指令，返回舵机ID，超时返回-1
+int	SCS::Ping(u8 ID)
+{
+	rFlushSCS();
+	writeBuf(ID, 0, NULL, 0, INST_PING);
+	wFlushSCS();
+	u8Status = 0;
+	if(!checkHead()){
+		u8Error = ERR_NO_REPLY;
+		return -1;
+	}
+	u8 bBuf[4];
+	u8Error = 0;
+	if(readSCS(bBuf, 4)!=4){
+		u8Error = ERR_NO_REPLY;
+		return -1;
+	}
+	if(bBuf[0]!=ID && ID!=0xfe){
+		u8Error = ERR_SLAVE_ID;
+		return -1;
+	}
+	if(bBuf[1]!=2){
+		u8Error = ERR_BUFF_LEN;
+		return -1;
+	}
+	u8 calSum = ~(bBuf[0]+bBuf[1]+bBuf[2]);
+	if(calSum!=bBuf[3]){
+		u8Error = ERR_CRC_CMP;
+		return -1;			
+	}
+	u8Status = bBuf[2];
+	return bBuf[0];
+}
+
+int SCS::checkHead()
+{
+	u8 bDat;
+	u8 bBuf[] = {0, 0};
+	u8 Cnt = 0;
+	while(1){
+		if(!readSCS(&bDat, 1)){
+			return 0;
+		}
+		bBuf[1] = bBuf[0];
+		bBuf[0] = bDat;
+		if(bBuf[0]==0xff && bBuf[1]==0xff){
+			break;
+		}
+		Cnt++;
+		if(Cnt>10){
+			return 0;
+		}
+	}
+	return 1;
+}
+
+int	SCS::Ack(u8 ID)
+{
+	u8Error = 0;
+	if(ID!=0xfe && Level){
+		if(!checkHead()){
+			u8Error = ERR_NO_REPLY;
+			return 0;
+		}
+		u8Status = 0;
+		u8 bBuf[4];
+		if(readSCS(bBuf, 4)!=4){
+			u8Error = ERR_NO_REPLY;
+			return 0;
+		}
+		if(bBuf[0]!=ID){
+			u8Error = ERR_SLAVE_ID;
+			return 0;
+		}
+		if(bBuf[1]!=2){
+			u8Error = ERR_BUFF_LEN;
+			return 0;
+		}
+		u8 calSum = ~(bBuf[0]+bBuf[1]+bBuf[2]);
+		if(calSum!=bBuf[3]){
+			u8Error = ERR_CRC_CMP;
+			return 0;
+		}
+		u8Status = bBuf[2];
+	}
+	return 1;
+}
+
+int	SCS::syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen)
+{
+	rFlushSCS();
+	syncReadRxPacketLen = nLen;
+	u8 checkSum = (4+0xfe) + IDN + MemAddr + nLen + INST_SYNC_READ;
+	u8 i;
+	writeSCS(0xff);
+	writeSCS(0xff);
+	writeSCS(0xfe);
+	writeSCS(IDN+4);
+	writeSCS(INST_SYNC_READ);
+	writeSCS(MemAddr);
+	writeSCS(nLen);
+	for(i=0; i<IDN; i++){
+		writeSCS(ID[i]);
+		checkSum += ID[i];
+	}
+	checkSum = ~checkSum;
+	writeSCS(checkSum);
+	wFlushSCS();
+	
+	syncReadRxBuffLen = readSCS(syncReadRxBuff, syncReadRxBuffMax, syncTimeOut);
+	return syncReadRxBuffLen;
+}
+
+void SCS::syncReadBegin(u8 IDN, u8 rxLen, u32 TimeOut)
+{
+	syncReadRxBuffMax = IDN*(rxLen+6);
+	syncReadRxBuff = new u8[syncReadRxBuffMax];
+	syncTimeOut = TimeOut;
+}
+
+void SCS::syncReadEnd()
+{
+	if(syncReadRxBuff){
+		delete syncReadRxBuff;
+		syncReadRxBuff = NULL;
+	}
+}
+
+int SCS::syncReadPacketRx(u8 ID, u8 *nDat)
+{
+	u16 syncReadRxBuffIndex = 0;
+	syncReadRxPacket = nDat;
+	syncReadRxPacketIndex = 0;
+	u8Error = 0;
+	while((syncReadRxBuffIndex+6+syncReadRxPacketLen)<=syncReadRxBuffLen){
+		u8 bBuf[] = {0, 0, 0};
+		u8 calSum = 0;
+		while(syncReadRxBuffIndex<syncReadRxBuffLen){
+			bBuf[0] = bBuf[1];
+			bBuf[1] = bBuf[2];
+			bBuf[2] = syncReadRxBuff[syncReadRxBuffIndex++];
+			if(bBuf[0]==0xff && bBuf[1]==0xff && bBuf[2]!=0xff){
+				break;
+			}
+		}
+		if(bBuf[2]!=ID){
+			continue;
+		}
+		if(syncReadRxBuff[syncReadRxBuffIndex++]!=(syncReadRxPacketLen+2)){
+			continue;
+		}
+		u8Status = syncReadRxBuff[syncReadRxBuffIndex++];
+		calSum = ID + (syncReadRxPacketLen+2) + u8Status;
+		for(u8 i=0; i<syncReadRxPacketLen; i++){
+			syncReadRxPacket[i] = syncReadRxBuff[syncReadRxBuffIndex++];
+			calSum += syncReadRxPacket[i];
+		}
+		calSum = ~calSum;
+		if(calSum!=syncReadRxBuff[syncReadRxBuffIndex++]){
+			u8Error = ERR_CRC_CMP;
+			return 0;
+		}
+		return syncReadRxPacketLen;
+	}
+	return 0;
+}
+
+int SCS::syncReadRxPacketToByte()
+{
+	if(syncReadRxPacketIndex>=syncReadRxPacketLen){
+		u8Error = ERR_BUFF_LEN;
+		return -1;
+	}
+	return syncReadRxPacket[syncReadRxPacketIndex++];
+}
+
+int SCS::syncReadRxPacketToWrod(u8 negBit)
+{
+	if((syncReadRxPacketIndex+1)>=syncReadRxPacketLen){
+		u8Error = ERR_BUFF_LEN;
+		return -1;
+	}
+	int Word = SCS2Host(syncReadRxPacket[syncReadRxPacketIndex], syncReadRxPacket[syncReadRxPacketIndex+1]);
+	syncReadRxPacketIndex += 2;
+	if(negBit){
+		if(Word&(1<<negBit)){
+			Word = -(Word & ~(1<<negBit));
+		}
+	}
+	return Word;
+}
+
+int SCS::Reset(u8 ID)
+{
+	rFlushSCS();
+	writeBuf(ID, 0, NULL, 0, INST_RESET);
+	wFlushSCS();
+	return Ack(ID);
+}
+
+int SCS::Recal(u8 ID)
+{
+	rFlushSCS();
+	writeBuf(ID, 0, NULL, 0, INST_CAL);
+	wFlushSCS();
+	return Ack(ID);
+}
diff --git a/src/SCS.h b/src/SCS.h
new file mode 100644
index 0000000..88ed271
--- /dev/null
+++ b/src/SCS.h
@@ -0,0 +1,64 @@
+/*
+ * SCS.h
+ * 飞特串行舵机通信层协议程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#ifndef _SCS_H
+#define _SCS_H
+
+#include "INST.h"
+
+class SCS{
+public:
+	SCS();
+	SCS(u8 End);
+	SCS(u8 End, u8 Level);
+	int genWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen);//普通写指令
+	int regWrite(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen);//异步写指令
+	int RegWriteAction(u8 ID = 0xfe);//异步写执行指令
+	void syncWrite(u8 ID[], u8 IDN, u8 MemAddr, u8 *nDat, u8 nLen);//同步写指令
+	int writeByte(u8 ID, u8 MemAddr, u8 bDat);//写1个字节
+	int writeWord(u8 ID, u8 MemAddr, u16 wDat);//写2个字节
+	int Read(u8 ID, u8 MemAddr, u8 *nData, u8 nLen);//读指令
+	int readByte(u8 ID, u8 MemAddr);//读1个字节
+	int readWord(u8 ID, u8 MemAddr);//读2个字节
+	int Ping(u8 ID);//Ping指令
+	int syncReadPacketTx(u8 ID[], u8 IDN, u8 MemAddr, u8 nLen);//同步读指令包发送
+	int syncReadPacketRx(u8 ID, u8 *nDat);//同步读返回包解码，成功返回内存字节数，失败返回0
+	int syncReadRxPacketToByte();//解码一个字节
+	int syncReadRxPacketToWrod(u8 negBit=0);//解码两个字节，negBit为方向为，negBit=0表示无方向
+	void syncReadBegin(u8 IDN, u8 rxLen, u32 TimeOut);//同步读开始
+	void syncReadEnd();//同步读结束
+	int Reset(u8 ID);//重置舵机状态
+	int Recal(u8 ID);//重置舵机中位
+	u8 getState() { return u8Status; }
+	u8 getLastError() { return u8Error; }
+public:
+	u8 Level;//舵机返回等级
+	u8 End;//处理器大小端结构
+	u8 u8Status;//舵机状态
+	u8 u8Error;//通信状态
+	u8 syncReadRxPacketIndex;
+	u8 syncReadRxPacketLen;
+	u8 *syncReadRxPacket;
+	u8 *syncReadRxBuff;
+	u16 syncReadRxBuffLen;
+	u16 syncReadRxBuffMax;
+	u32 syncTimeOut;
+protected:
+	virtual int writeSCS(unsigned char *nDat, int nLen) = 0;
+	virtual int readSCS(unsigned char *nDat, int nLen) = 0;
+	virtual int readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut) = 0;
+	virtual int writeSCS(unsigned char bDat) = 0;
+	virtual void rFlushSCS() = 0;
+	virtual void wFlushSCS() = 0;
+protected:
+	void writeBuf(u8 ID, u8 MemAddr, u8 *nDat, u8 nLen, u8 Fun);
+	void Host2SCS(u8 *DataL, u8* DataH, u16 Data);//1个16位数拆分为2个8位数
+	u16	SCS2Host(u8 DataL, u8 DataH);//2个8位数组合为1个16位数
+	int	Ack(u8 ID);//返回应答
+	int checkHead();//帧头检测
+};
+#endif
\ No newline at end of file
diff --git a/src/SCSCL.cpp b/src/SCSCL.cpp
new file mode 100644
index 0000000..bcbb334
--- /dev/null
+++ b/src/SCSCL.cpp
@@ -0,0 +1,203 @@
+/*
+ * SCSCL.cpp
+ * 飞特SCSCL系列串行舵机应用层程序
+ * 日期: 2024.4.2
+ * 作者: 
+ */
+
+#include "SCSCL.h"
+
+SCSCL::SCSCL()
+{
+	End = 1;
+}
+
+SCSCL::SCSCL(u8 End):SCSerial(End)
+{
+}
+
+SCSCL::SCSCL(u8 End, u8 Level):SCSerial(End, Level)
+{
+}
+
+int SCSCL::WritePos(u8 ID, u16 Position, u16 Time, u16 Speed)
+{
+	u8 bBuf[6];
+	Host2SCS(bBuf+0, bBuf+1, Position);
+	Host2SCS(bBuf+2, bBuf+3, Time);
+	Host2SCS(bBuf+4, bBuf+5, Speed);
+	
+	return genWrite(ID, SCSCL_GOAL_POSITION_L, bBuf, 6);
+}
+
+int SCSCL::RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed)
+{
+	u8 bBuf[6];
+	Host2SCS(bBuf+0, bBuf+1, Position);
+	Host2SCS(bBuf+2, bBuf+3, Time);
+	Host2SCS(bBuf+4, bBuf+5, Speed);
+	
+	return regWrite(ID, SCSCL_GOAL_POSITION_L, bBuf, 6);
+}
+
+void SCSCL::SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[])
+{
+    u8 offbuf[6*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		u16 T, V;
+		if(Time){
+			T = Time[i];
+		}else{
+			T = 0;
+		}
+		if(Speed){
+			V = Speed[i];
+		}else{
+			V = 0;
+		}
+        Host2SCS(offbuf+i*6+0, offbuf+i*6+1, Position[i]);
+        Host2SCS(offbuf+i*6+2, offbuf+i*6+3, T);
+        Host2SCS(offbuf+i*6+4, offbuf+i*6+5, V);
+    }
+    syncWrite(ID, IDN, SCSCL_GOAL_POSITION_L, offbuf, 6);
+}
+
+int SCSCL::EnableTorque(u8 ID, u8 Enable)
+{
+	return writeByte(ID, SCSCL_TORQUE_ENABLE, Enable);
+}
+
+int SCSCL::unLockEprom(u8 ID)
+{
+	return writeByte(ID, SCSCL_LOCK, 0);
+}
+
+int SCSCL::LockEprom(u8 ID)
+{
+	return writeByte(ID, SCSCL_LOCK, 1);
+}
+
+int SCSCL::FeedBack(int ID)
+{
+	int nLen = Read(ID, SCSCL_PRESENT_POSITION_L, Mem, sizeof(Mem));
+	if(nLen!=sizeof(Mem)){
+		return -1;
+	}
+	return nLen;
+}
+	
+int SCSCL::ReadPos(int ID)
+{
+	int Pos = -1;
+	if(ID==-1){
+		Pos = Mem[SCSCL_PRESENT_POSITION_L-SCSCL_PRESENT_POSITION_L];
+		Pos <<= 8;
+		Pos |= Mem[SCSCL_PRESENT_POSITION_H-SCSCL_PRESENT_POSITION_L];
+	}else{
+		Pos = readWord(ID, SCSCL_PRESENT_POSITION_L);
+	}
+	return Pos;
+}
+
+int SCSCL::ReadSpeed(int ID)
+{
+	int Speed = -1;
+	if(ID==-1){
+		Speed = Mem[SCSCL_PRESENT_SPEED_L-SCSCL_PRESENT_POSITION_L];
+		Speed <<= 8;
+		Speed |= Mem[SCSCL_PRESENT_SPEED_H-SCSCL_PRESENT_POSITION_L];
+	}else{
+		Speed = readWord(ID, SCSCL_PRESENT_SPEED_L);
+	}
+	if(Speed&(1<<15)){
+		Speed = -(Speed&~(1<<15));
+	}	
+	return Speed;
+}
+
+int SCSCL::ReadLoad(int ID)
+{
+	int Load = -1;
+	if(ID==-1){
+		Load = Mem[SCSCL_PRESENT_LOAD_L-SCSCL_PRESENT_POSITION_L];
+		Load <<= 8;
+		Load |= Mem[SCSCL_PRESENT_LOAD_H-SCSCL_PRESENT_POSITION_L];
+	}else{
+		Load = readWord(ID, SCSCL_PRESENT_LOAD_L);
+	}
+	if(Load&(1<<10)){
+		Load = -(Load&~(1<<10));
+	}	
+	return Load;
+}
+
+int SCSCL::ReadVoltage(int ID)
+{
+	int Voltage = -1;
+	if(ID==-1){
+		Voltage = Mem[SCSCL_PRESENT_VOLTAGE-SCSCL_PRESENT_POSITION_L];	
+	}else{
+		Voltage = readByte(ID, SCSCL_PRESENT_VOLTAGE);
+	}
+	return Voltage;
+}
+
+int SCSCL::ReadTemper(int ID)
+{
+	int Temper = -1;
+	if(ID==-1){
+		Temper = Mem[SCSCL_PRESENT_TEMPERATURE-SCSCL_PRESENT_POSITION_L];	
+	}else{
+		Temper = readByte(ID, SCSCL_PRESENT_TEMPERATURE);
+	}
+	return Temper;
+}
+
+int SCSCL::ReadMove(int ID)
+{
+	int Move = -1;
+	if(ID==-1){
+		Move = Mem[SCSCL_MOVING-SCSCL_PRESENT_POSITION_L];	
+	}else{
+		Move = readByte(ID, SCSCL_MOVING);
+	}
+	return Move;
+}
+
+int SCSCL::ReadCurrent(int ID)
+{
+	int Current = -1;
+	if(ID==-1){
+		Current = Mem[SCSCL_PRESENT_CURRENT_L-SCSCL_PRESENT_POSITION_L];
+		Current <<= 8;
+		Current |= Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L];
+	}else{
+		Current = readWord(ID, SCSCL_PRESENT_CURRENT_L);
+	}
+	if(Current&(1<<15)){
+		Current = -(Current&~(1<<15));
+	}	
+	return Current;
+}
+
+int SCSCL::PWMMode(u8 ID)
+{
+	u8 bBuf[4];
+	bBuf[0] = 0;
+	bBuf[1] = 0;
+	bBuf[2] = 0;
+	bBuf[3] = 0;
+	return genWrite(ID, SCSCL_MIN_ANGLE_LIMIT_L, bBuf, 4);	
+}
+
+int SCSCL::WritePWM(u8 ID, s16 pwmOut)
+{
+	if(pwmOut<0){
+		pwmOut = -pwmOut;
+		pwmOut |= (1<<10);
+	}
+	u8 bBuf[2];
+	Host2SCS(bBuf+0, bBuf+1, pwmOut);
+	
+	return genWrite(ID, SCSCL_GOAL_TIME_L, bBuf, 2);
+}
diff --git a/src/SCSCL.h b/src/SCSCL.h
new file mode 100644
index 0000000..07aafa3
--- /dev/null
+++ b/src/SCSCL.h
@@ -0,0 +1,77 @@
+/*
+ * SCSCL.h
+ * 飞特SCSCL系列串行舵机应用层程序
+ * 日期: 2024.4.2
+ * 作者: 
+ */
+
+#ifndef _SCSCL_H
+#define _SCSCL_H
+
+//内存表定义
+//-------EPROM(只读)--------
+#define SCSCL_VERSION_L 3
+#define SCSCL_VERSION_H 4
+
+//-------EPROM(读写)--------
+#define SCSCL_ID 5
+#define SCSCL_BAUD_RATE 6
+#define SCSCL_MIN_ANGLE_LIMIT_L 9
+#define SCSCL_MIN_ANGLE_LIMIT_H 10
+#define SCSCL_MAX_ANGLE_LIMIT_L 11
+#define SCSCL_MAX_ANGLE_LIMIT_H 12
+#define SCSCL_CW_DEAD 26
+#define SCSCL_CCW_DEAD 27
+
+//-------SRAM(读写)--------
+#define SCSCL_TORQUE_ENABLE 40
+#define SCSCL_GOAL_POSITION_L 42
+#define SCSCL_GOAL_POSITION_H 43
+#define SCSCL_GOAL_TIME_L 44
+#define SCSCL_GOAL_TIME_H 45
+#define SCSCL_GOAL_SPEED_L 46
+#define SCSCL_GOAL_SPEED_H 47
+#define SCSCL_LOCK 48
+
+//-------SRAM(只读)--------
+#define SCSCL_PRESENT_POSITION_L 56
+#define SCSCL_PRESENT_POSITION_H 57
+#define SCSCL_PRESENT_SPEED_L 58
+#define SCSCL_PRESENT_SPEED_H 59
+#define SCSCL_PRESENT_LOAD_L 60
+#define SCSCL_PRESENT_LOAD_H 61
+#define SCSCL_PRESENT_VOLTAGE 62
+#define SCSCL_PRESENT_TEMPERATURE 63
+#define SCSCL_MOVING 66
+#define SCSCL_PRESENT_CURRENT_L 69
+#define SCSCL_PRESENT_CURRENT_H 70
+
+#include "SCSerial.h"
+
+class SCSCL : public SCSerial
+{
+public:
+	SCSCL();
+	SCSCL(u8 End);
+	SCSCL(u8 End, u8 Level);
+	int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//普通写单个舵机位置指令
+	int RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0);//异步写单个舵机位置指令(RegWriteAction生效)
+	void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]);//同步写多个舵机位置指令
+	int PWMMode(u8 ID);//PWM模式
+	int WritePWM(u8 ID, s16 pwmOut);//PWM输出模式指令
+	int EnableTorque(u8 ID, u8 Enable);//扭矩控制指令
+	int unLockEprom(u8 ID);//eprom解锁
+	int LockEprom(u8 ID);//eprom加锁
+	int FeedBack(int ID);//反馈舵机信息
+	int ReadPos(int ID);//读位置
+	int ReadSpeed(int ID);//读速度
+	int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
+	int ReadVoltage(int ID);//读电压
+	int ReadTemper(int ID);//读温度
+	int ReadMove(int ID);//读移动状态
+	int ReadCurrent(int ID);//读电流
+private:
+	u8 Mem[SCSCL_PRESENT_CURRENT_H-SCSCL_PRESENT_POSITION_L+1];
+};
+
+#endif
\ No newline at end of file
diff --git a/src/SCSerial.cpp b/src/SCSerial.cpp
new file mode 100644
index 0000000..46792f5
--- /dev/null
+++ b/src/SCSerial.cpp
@@ -0,0 +1,99 @@
+/*
+ * SCSerial.h
+ * 飞特串行舵机硬件接口层程序
+ * 日期: 2024.4.2
+ * 作者: 
+ */
+
+#include "SCSerial.h"
+
+SCSerial::SCSerial()
+{
+	IOTimeOut = 10;
+	pSerial = NULL;
+}
+
+SCSerial::SCSerial(u8 End):SCS(End)
+{
+	IOTimeOut = 10;
+	pSerial = NULL;
+}
+
+SCSerial::SCSerial(u8 End, u8 Level):SCS(End, Level)
+{
+	IOTimeOut = 10;
+	pSerial = NULL;
+}
+
+int SCSerial::readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut)
+{
+	int Size = 0;
+	int ComData;
+	unsigned long t_begin = millis();
+	unsigned long t_user;
+	while(1){
+		ComData = pSerial->read();
+		if(ComData!=-1){
+			if(nDat){
+				nDat[Size] = ComData;
+			}
+			Size++;
+		}
+		if(Size>=nLen){
+			break;
+		}
+		t_user = millis() - t_begin;
+		if(t_user>TimeOut){
+			break;
+		}
+	}
+	return Size;
+}
+
+int SCSerial::readSCS(unsigned char *nDat, int nLen)
+{
+	int Size = 0;
+	int ComData;
+	unsigned long t_begin = millis();
+	unsigned long t_user;
+	while(1){
+		ComData = pSerial->read();
+		if(ComData!=-1){
+			if(nDat){
+				nDat[Size] = ComData;
+			}
+			Size++;
+			t_begin = millis();
+		}
+		if(Size>=nLen){
+			break;
+		}
+		t_user = millis() - t_begin;
+		if(t_user>IOTimeOut){
+			break;
+		}
+	}
+	return Size;
+}
+
+int SCSerial::writeSCS(unsigned char *nDat, int nLen)
+{
+	if(nDat==NULL){
+		return 0;
+	}
+	return pSerial->write(nDat, nLen);
+}
+
+int SCSerial::writeSCS(unsigned char bDat)
+{
+	return pSerial->write(&bDat, 1);
+}
+
+void SCSerial::rFlushSCS()
+{
+	while(pSerial->read()!=-1);
+}
+
+void SCSerial::wFlushSCS()
+{
+}
\ No newline at end of file
diff --git a/src/SCSerial.h b/src/SCSerial.h
new file mode 100644
index 0000000..402b262
--- /dev/null
+++ b/src/SCSerial.h
@@ -0,0 +1,38 @@
+/*
+ * SCSerial.h
+ * 飞特串行舵机硬件接口层程序
+ * 日期: 2024.11.22
+ * 作者: txl
+ */
+
+#ifndef _SCSERIAL_H
+#define _SCSERIAL_H
+
+#if defined(ARDUINO) && ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include "SCS.h"
+
+class SCSerial : public SCS
+{
+public:
+	SCSerial();
+	SCSerial(u8 End);
+	SCSerial(u8 End, u8 Level);
+
+protected:
+	int writeSCS(unsigned char *nDat, int nLen);//输出nLen字节
+	int readSCS(unsigned char *nDat, int nLen);//输入nLen字节
+	int readSCS(unsigned char *nDat, int nLen, unsigned long TimeOut);
+	int writeSCS(unsigned char bDat);//输出1字节
+	void rFlushSCS();//
+	void wFlushSCS();//
+public:
+	unsigned long IOTimeOut;//输入输出超时
+	HardwareSerial *pSerial;//串口指针
+};
+
+#endif
\ No newline at end of file
diff --git a/src/SCServo.h b/src/SCServo.h
new file mode 100644
index 0000000..090dea6
--- /dev/null
+++ b/src/SCServo.h
@@ -0,0 +1,15 @@
+/*
+ * SCServo.h
+ * 飞特串行舵机接口
+ * 日期: 2024.11.24
+ * 作者: txl
+ */
+
+#ifndef _SCSERVO_H
+#define _SCSERVO_H
+
+#include "SCSCL.h"
+#include "SMS_STS.h"
+#include "HLSCL.h"
+
+#endif
\ No newline at end of file
diff --git a/src/SMS_STS.cpp b/src/SMS_STS.cpp
new file mode 100644
index 0000000..d79e919
--- /dev/null
+++ b/src/SMS_STS.cpp
@@ -0,0 +1,249 @@
+/*
+ * SMS_STS.cpp
+ * 飞特SMS_STS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#include "SMS_STS.h"
+
+SMS_STS::SMS_STS()
+{
+	End = 0;
+}
+
+SMS_STS::SMS_STS(u8 End):SCSerial(End)
+{
+}
+
+SMS_STS::SMS_STS(u8 End, u8 Level):SCSerial(End, Level)
+{
+}
+
+int SMS_STS::WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC)
+{
+	if(Position<0){
+		Position = -Position;
+		Position |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, Position);
+	Host2SCS(bBuf+3, bBuf+4, 0);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return genWrite(ID, SMS_STS_ACC, bBuf, 7);
+}
+
+int SMS_STS::RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC)
+{
+	if(Position<0){
+		Position = -Position;
+		Position |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, Position);
+	Host2SCS(bBuf+3, bBuf+4, 0);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return regWrite(ID, SMS_STS_ACC, bBuf, 7);
+}
+
+void SMS_STS::SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[])
+{
+    u8 offbuf[7*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		if(Position[i]<0){
+			Position[i] = -Position[i];
+			Position[i] |= (1<<15);
+		}
+		u16 V;
+		if(Speed){
+			V = Speed[i];
+		}else{
+			V = 0;
+		}
+		if(ACC){
+			offbuf[i*7] = ACC[i];
+		}else{
+			offbuf[i*7] = 0;
+		}
+        Host2SCS(offbuf+i*7+1, offbuf+i*7+2, Position[i]);
+        Host2SCS(offbuf+i*7+3, offbuf+i*7+4, 0);
+        Host2SCS(offbuf+i*7+5, offbuf+i*7+6, V);
+    }
+    syncWrite(ID, IDN, SMS_STS_ACC, offbuf, 7);
+}
+
+void SMS_STS::SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[])
+{
+    u8 offbuf[7*IDN];
+    for(u8 i = 0; i<IDN; i++){
+		if(Speed[i]<0){
+			Speed[i] = -Speed[i];
+			Speed[i] |= (1<<15);
+		}
+		if(ACC){
+			offbuf[i*7] = ACC[i];
+		}else{
+			offbuf[i*7] = 0;
+		}
+        Host2SCS(offbuf+i*7+1, offbuf+i*7+2, 0);
+        Host2SCS(offbuf+i*7+3, offbuf+i*7+4, 0);
+        Host2SCS(offbuf+i*7+5, offbuf+i*7+6, Speed[i]);
+    }
+    syncWrite(ID, IDN, SMS_STS_ACC, offbuf, 7);
+}
+
+int SMS_STS::WheelMode(u8 ID)
+{
+	return writeByte(ID, SMS_STS_MODE, 1);		
+}
+
+int SMS_STS::WriteSpe(u8 ID, s16 Speed, u8 ACC)
+{
+	if(Speed<0){
+		Speed = -Speed;
+		Speed |= (1<<15);
+	}
+	u8 bBuf[7];
+	bBuf[0] = ACC;
+	Host2SCS(bBuf+1, bBuf+2, 0);
+	Host2SCS(bBuf+3, bBuf+4, 0);
+	Host2SCS(bBuf+5, bBuf+6, Speed);
+	
+	return genWrite(ID, SMS_STS_ACC, bBuf, 7);
+}
+
+int SMS_STS::EnableTorque(u8 ID, u8 Enable)
+{
+	return writeByte(ID, SMS_STS_TORQUE_ENABLE, Enable);
+}
+
+int SMS_STS::unLockEprom(u8 ID)
+{
+	return writeByte(ID, SMS_STS_LOCK, 0);
+}
+
+int SMS_STS::LockEprom(u8 ID)
+{
+	return writeByte(ID, SMS_STS_LOCK, 1);
+}
+
+int SMS_STS::CalibrationOfs(u8 ID)
+{
+	return writeByte(ID, SMS_STS_TORQUE_ENABLE, 128);
+}
+
+int SMS_STS::FeedBack(int ID)
+{
+	int nLen = Read(ID, SMS_STS_PRESENT_POSITION_L, Mem, sizeof(Mem));
+	if(nLen!=sizeof(Mem)){
+		return -1;
+	}
+	return nLen;
+}
+
+int SMS_STS::ReadPos(int ID)
+{
+	int Pos = -1;
+	if(ID==-1){
+		Pos = Mem[SMS_STS_PRESENT_POSITION_H-SMS_STS_PRESENT_POSITION_L];
+		Pos <<= 8;
+		Pos |= Mem[SMS_STS_PRESENT_POSITION_L-SMS_STS_PRESENT_POSITION_L];
+	}else{
+		Pos = readWord(ID, SMS_STS_PRESENT_POSITION_L);
+	}
+	if(Pos&(1<<15)){
+		Pos = -(Pos&~(1<<15));
+	}
+	
+	return Pos;
+}
+
+int SMS_STS::ReadSpeed(int ID)
+{
+	int Speed = -1;
+	if(ID==-1){
+		Speed = Mem[SMS_STS_PRESENT_SPEED_H-SMS_STS_PRESENT_POSITION_L];
+		Speed <<= 8;
+		Speed |= Mem[SMS_STS_PRESENT_SPEED_L-SMS_STS_PRESENT_POSITION_L];
+	}else{
+		Speed = readWord(ID, SMS_STS_PRESENT_SPEED_L);
+	}
+	if(Speed&(1<<15)){
+		Speed = -(Speed&~(1<<15));
+	}	
+	return Speed;
+}
+
+int SMS_STS::ReadLoad(int ID)
+{
+	int Load = -1;
+	if(ID==-1){
+		Load = Mem[SMS_STS_PRESENT_LOAD_H-SMS_STS_PRESENT_POSITION_L];
+		Load <<= 8;
+		Load |= Mem[SMS_STS_PRESENT_LOAD_L-SMS_STS_PRESENT_POSITION_L];
+	}else{
+		Load = readWord(ID, SMS_STS_PRESENT_LOAD_L);
+	}
+	if(Load&(1<<10)){
+		Load = -(Load&~(1<<10));
+	}
+	return Load;
+}
+
+int SMS_STS::ReadVoltage(int ID)
+{	
+	int Voltage = -1;
+	if(ID==-1){
+		Voltage = Mem[SMS_STS_PRESENT_VOLTAGE-SMS_STS_PRESENT_POSITION_L];	
+	}else{
+		Voltage = readByte(ID, SMS_STS_PRESENT_VOLTAGE);
+	}
+	return Voltage;
+}
+
+int SMS_STS::ReadTemper(int ID)
+{	
+	int Temper = -1;
+	if(ID==-1){
+		Temper = Mem[SMS_STS_PRESENT_TEMPERATURE-SMS_STS_PRESENT_POSITION_L];	
+	}else{
+		Temper = readByte(ID, SMS_STS_PRESENT_TEMPERATURE);
+	}
+	return Temper;
+}
+
+int SMS_STS::ReadMove(int ID)
+{
+	int Move = -1;
+	if(ID==-1){
+		Move = Mem[SMS_STS_MOVING-SMS_STS_PRESENT_POSITION_L];	
+	}else{
+		Move = readByte(ID, SMS_STS_MOVING);
+	}
+	return Move;
+}
+
+int SMS_STS::ReadCurrent(int ID)
+{
+	int Current = -1;
+	if(ID==-1){
+		Current = Mem[SMS_STS_PRESENT_CURRENT_H-SMS_STS_PRESENT_POSITION_L];
+		Current <<= 8;
+		Current |= Mem[SMS_STS_PRESENT_CURRENT_L-SMS_STS_PRESENT_POSITION_L];
+	}else{
+		Current = readWord(ID, SMS_STS_PRESENT_CURRENT_L);
+	}
+	if(Current&(1<<15)){
+		Current = -(Current&~(1<<15));
+	}	
+	return Current;
+}
+
+int SMS_STS::ServoMode(u8 ID)
+{
+	return writeByte(ID, SMS_STS_MODE, 0);		
+}
diff --git a/src/SMS_STS.h b/src/SMS_STS.h
new file mode 100644
index 0000000..8422f7c
--- /dev/null
+++ b/src/SMS_STS.h
@@ -0,0 +1,86 @@
+/*
+ * SMS_STS.h
+ * 飞特SMS/STS系列串行舵机应用层程序
+ * 日期: 2024.11.21
+ * 作者: txl
+ */
+
+#ifndef _SMS_STS_H
+#define _SMS_STS_H
+
+//内存表定义
+//-------EPROM(只读)--------
+#define SMS_STS_MODEL_L 3
+#define SMS_STS_MODEL_H 4
+
+//-------EPROM(读写)--------
+#define SMS_STS_ID 5
+#define SMS_STS_BAUD_RATE 6
+#define SMS_STS_MIN_ANGLE_LIMIT_L 9
+#define SMS_STS_MIN_ANGLE_LIMIT_H 10
+#define SMS_STS_MAX_ANGLE_LIMIT_L 11
+#define SMS_STS_MAX_ANGLE_LIMIT_H 12
+#define SMS_STS_CW_DEAD 26
+#define SMS_STS_CCW_DEAD 27
+#define SMS_STS_OFS_L 31
+#define SMS_STS_OFS_H 32
+#define SMS_STS_MODE 33
+
+//-------SRAM(读写)--------
+#define SMS_STS_TORQUE_ENABLE 40
+#define SMS_STS_ACC 41
+#define SMS_STS_GOAL_POSITION_L 42
+#define SMS_STS_GOAL_POSITION_H 43
+#define SMS_STS_GOAL_TIME_L 44
+#define SMS_STS_GOAL_TIME_H 45
+#define SMS_STS_GOAL_SPEED_L 46
+#define SMS_STS_GOAL_SPEED_H 47
+#define SMS_STS_TORQUE_LIMIT_L 48
+#define SMS_STS_TORQUE_LIMIT_H 49
+#define SMS_STS_LOCK 55
+
+//-------SRAM(只读)--------
+#define SMS_STS_PRESENT_POSITION_L 56
+#define SMS_STS_PRESENT_POSITION_H 57
+#define SMS_STS_PRESENT_SPEED_L 58
+#define SMS_STS_PRESENT_SPEED_H 59
+#define SMS_STS_PRESENT_LOAD_L 60
+#define SMS_STS_PRESENT_LOAD_H 61
+#define SMS_STS_PRESENT_VOLTAGE 62
+#define SMS_STS_PRESENT_TEMPERATURE 63
+#define SMS_STS_MOVING 66
+#define SMS_STS_PRESENT_CURRENT_L 69
+#define SMS_STS_PRESENT_CURRENT_H 70
+
+#include "SCSerial.h"
+
+class SMS_STS : public SCSerial
+{
+public:
+	SMS_STS();
+	SMS_STS(u8 End);
+	SMS_STS(u8 End, u8 Level);
+	int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0);//普通写单个舵机位置指令
+	int RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0);//异步写单个舵机位置指令(RegWriteAction生效)
+	void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[]);//同步写多个舵机位置指令
+	void SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[]);//同步写多个舵机速度指令
+	int ServoMode(u8 ID);//Servo模式
+	int WheelMode(u8 ID);//恒速模式
+	int WriteSpe(u8 ID, s16 Speed, u8 ACC = 0);//恒速模式控制指令
+	int EnableTorque(u8 ID, u8 Enable);//扭力控制指令
+	int unLockEprom(u8 ID);//eprom解锁
+	int LockEprom(u8 ID);//eprom加锁
+	int CalibrationOfs(u8 ID);//中位校准
+	int FeedBack(int ID);//反馈舵机信息
+	int ReadPos(int ID);//读位置
+	int ReadSpeed(int ID);//读速度
+	int ReadLoad(int ID);//读输出至电机的电压百分比(0~1000)
+	int ReadVoltage(int ID);//读电压
+	int ReadTemper(int ID);//读温度
+	int ReadMove(int ID);//读移动状态
+	int ReadCurrent(int ID);//读电流
+private:
+	u8 Mem[SMS_STS_PRESENT_CURRENT_H-SMS_STS_PRESENT_POSITION_L+1];
+};
+
+#endif
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 0000000..dd6da9b
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,131 @@
+#include <Arduino.h>
+#include "SCServo.h"
+
+SMS_STS sms_sts;
+
+void test_ping();
+void lire_tous_les_registres(int servo_id);
+
+
+char registre_description[70][100]={
+  "Version majeure du firmware",
+  "Version mineure du firmware",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  "",
+  ""
+};
+
+// the setup routine runs once when you press reset:
+void setup() {
+  // initialize the digital pin as an output.
+  pinMode(LED_BUILTIN, OUTPUT);
+  Serial.begin(115200);//sts舵机波特率1000000
+  Serial1.begin(1000000);//sts舵机波特率1000000
+  sms_sts.pSerial = &Serial1;
+
+}
+
+// the loop routine runs over and over again forever:
+void loop() {
+  digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
+  test_ping();
+  digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
+  test_ping();
+}
+
+void test_ping()
+{
+  int ID = sms_sts.Ping(1);
+  static int found = 0;
+  if(ID!=-1){
+    Serial.print("Servo ID:");
+    Serial.println(ID);
+    if(found == 0){
+      found = 1;
+      lire_tous_les_registres(ID);
+    }
+    delay(100);
+  }else{
+    Serial.print("Ping servo ID error!\n");
+    found = 0;
+    delay(2000);
+  }
+}
+
+int lire_registre(int servo_id, int registre_adresse){
+  return sms_sts.readByte(servo_id, registre_adresse); // Resolution à 1
+}
+
+void lire_tous_les_registres(int servo_id){
+  char message[200]="";
+  for (int i=0; i<0x46; i++){
+    sprintf(message, "registre 0x%x: %d\t\t%s\n", i, lire_registre(servo_id, i), registre_description[i]);
+    Serial.print(message);
+  }
+
+}