For the robot made here http://www.thingiverse.com/thing:234482
By sending command to firmware through serial, you could control the position of the robot.
There are 5 servos in this robot, number as 0-4 from top to bottom.
Current there are 3 commands supported:
A a0 a1 a2 a3 a4
V v0 v1 v2 v3 v4
P n AMin AMax VMin VMax ADef
V is to give the value of Arduino built-in Servo class, this command means:
S[0].write(v0);
S[1].write(v1);
S[2].write(v2);
S[3].write(v3);
S[4].write(v4);
A is to give the angle you need, remember, due to the existence of assembly error, value given to V command may be bias to what you want, the A command is the angle after calibration.
P command is for the calibration, n is servo number, AMin AMax is the angle bound of the servo specified by n, VMin VMax is the value for Servo class, a map() behind it doing the transformation from A to V. ADef is the default angle you want to put. Don't confused by the name, AMin and AMax doesn't necessarily means AMin<AMax, they just mark the boundry.
T command is for test connection, it use the default echo of your command, use for example:
T token
Gives the exactly same echo of command, use this to test if the comport is connected as your robot.
All the value in command should be integer, and only treated as valid when it is non-negtive. Any value less than 0 will be treated as invalid and will just skip it.
Values will write into EEPROM which means you don't need to calibrate again after reboot the robot.
Rotate the servos to given value:
V 90 70 80 85 30
Rotate the servo 1 to value 90:
V -1 90 -1 -1 -1
Rotate the servos to specified angles:
A 0 90 90 90 0
Rotate the servo 2 to angle 90:
A -1 -1 90 -1 -1
Rotate the servo 2 to 90, 3 to 45:
A -1 -1 90 45 -1
Let Angle of servo 2 vary from 0 to 90 degree, where the coresponding value is 170 ~ 85:
P 2 0 90 170 85