Command line tool to interact with JMC IHSV57 servos.
Uploading you config is as easy as:
servo -c config.yaml -p /dev/cu.serial
The full configuration looks like this:
motor_encoder:
line: 0
eletronic_gear:
molecular: 0
denominator: 0
input_offset: 0
weight_coefficient: 0
control_mode: pos_pulse_ccw_dir
# control_mode: pos_pulse_cw_dir
# control_mode: pos_dipulse_ccw_dir
# control_mode: pos_dipulse_cw_dir
# control_mode: pos_digital
# control_mode: pos_ramp_enable
# control_mode: vel_analog_cw
# control_mode: vel_analog_ccw
# control_mode: vel_digital_pwm_half
# control_mode: vel_digital_pwm_inversion
# control_mode: vel_ramp_enable
# control_mode: torque_analog_cw
# control_mode: torque_analog_ccw
# control_mode: torque_digital_pwm_half
# control_mode: torque_digital_pwm_inversion
mode2:
control: external
# control: internal
pos_filter: false
vel_filter: false
pos_loop:
pp: 0
pd: 0
pf: 0
pos_filter: 0
pos_error: 0
vel_loop:
vp: 0
continous_vp: 0
vi: 0
vel_limit: 0
vd: 0
acc: 0
aff: 0
dec: 0
vel_filter: 0
current_loop:
cp: 0
continous_current: 0
ci: 0
limit_current: 0
threshold_setting:
temp_limit: 0
over_voltage_limit: 0
under_voltage_limit: 0
i2t_limit: 0
For a more realistic configuration check out the config from Sebastian End.
All code and data is released under the Apache License 2.0.