robots

Fluent style APIs for Controlling servo motors

Tested servo motors are:

-FUTABA RS30MD http://www.futaba.co.jp/robot/command_type_servos/rs304md.html

Example:

Torque On/Off

private static void torque(boolean on,
                           OutputStream out) throws IOException {
    RS485 packet = RS485.data(ShortPacket.id(0x01)
                                         .flag(0x00)
                                         .address(0x24)
                                         .count(0x01)
                                         .data(on ? 0x01 : 0x00)
                                         .build())
                        .build();
    packet.send(out);
}

Send Long packet

    LongPacket packet = LongPacket.address(0x1E)
                                  .length(0x03)
                                  .data(ShortPacket.id(0x01)
                                                   .data(0x64, 0x00)
                                                   .build())
                                  .data(ShortPacket.id(0x02)
                                                   .data(0x64, 0x00)
                                                   .build())
                                  .data(ShortPacket.id(0x05)
                                                   .data(0xF4, 0x01)
                                                   .build())
                                  .build();

    ByteArrayOutputStream out = Bytes.stream();

    packet.send(out);