Sorry to take so long to reply, but I’ve been out of town.
I made a few tests, configuring a baud rate for the Maestro via the Control Center, then used the following code to set the baud rate for the A-Star:
#ifdef SERIAL_PORT_HARDWARE_OPEN
#define maestroSerial SERIAL_PORT_HARDWARE_OPEN
#else
#include <SoftwareSerial.h>
SoftwareSerial maestroSerial(10, 11);
#endif
MicroMaestro maestro(maestroSerial);
<some init code...>
maestroSerial.begin(<baud rate>);
<send commands to Maestro>
I did not do an exhaustive list, but here is what I found. A rate of 9600, 48000, 60000, 80000 worked, every trial (only did a few). A rate of 96000 or above (up to 20000) failed every trial.
I should probably elaborate. The so-called “send commands to Maestro” sends a couple of commands to do some initial positioning with a delay in between. As far as I can remember, these commands sent “slowly” always worked, even above 80000. Then I go into a loop where I set a target, start a script at a subroutine that waits for the target to be reached, then “wait” till the target is reached with an inner loop that gets the script status; after the target is reached there is a delay of 20 milliseconds. From what I could tell, the loop worked a handful of times (since the servo moved some), but eventually some aspect of communication failed and the servo quit moving, presumably because no more commands could be sent or responses read.
I am not sure if I’ve done something wrong or what. Any advice?