I’m currently writing a small ardunio sketch to use all the TTL Serial commands of the the Micro Maestro in my robot, and along the way, I stumbled upon a few things I would like to have some precision about.
[quote]# Serial Overrun Error (bit 1)
A hardware-level error that occurs when the UART. This should not occur during normal operation.[/quote]
when the UART what ?
5.c. Command Protocols
I have some trouble to get the initialization phase to work cleanly… Here is the way I proceed :
- “detect baud rate” mode : I reset the module with the RST pin, then wait a few microseconds, then I try to initialize by sending “0xAA” (I don’t want to have to start with a Pololu Protocol command). I could only make it work by sending the start byte twice, which it looks odd to me. Any thoughs ?
The following commands work perfectly.
5.e. Serial Servo Commands:
Get Moving State ():
- it seems that if you set a target outside of the servo’s range, this flag is still set when the servo stops (at his min or max, without ever reaching the target). The documentation says:
But in this case, the two conditions are not disjoint…
I also encountered a strange behavior worth mentioning :
When setting the target, then the acceleration, then the speed for a servo (with occasionally a small delay between the commands), sometimes, the speed and acceleration are taken into account for the current movement, sometimes they are not.
I guess it is normal and due to some timing issues in my commands (all the commands not arriving during the same time interval), but maybe it could deserve a note somewhere.
I will post the sketch when it is cleaned up.
Edit : removed a useless question as it was only a mistake in my code.