Servo mode

/enableServoMode (int)motorID (bool)enable

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
enable	0-1	1:Enable, 0:Disable

Executable timing

Always

Description

Turns on/off the servo mode (position tracking mode). To avoid sudden movement, the current position at the moment of activation is set to the target position.

It is not possible to send other motor control commands such as /run or /goTo while operating in this mode.

/setServoParam (int)motorID (float)kP (float)kI (float)kD

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
kP	0.0-	Proportional control gain
kI	0.0-	Integral control gain
kD	0.0-	Differential control gain

Executable timing

Always

Description

Adjusts the PID control gain.

Initial value

Argument	Initial value
kP	0.06
kI	0
kD	0

/getServoParam (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

Always

Response

/servoParam (int)motorID (float)kP (float)kI (float)kD

Argument	Range	Description
motorID	1-4, 255	motor ID
kP	0.0-	Proportional control gain
kI	0.0-	Integral control gain
kD	0.0-	Differential control gain

/setTargetPosition (int)motorID (int)position

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
position	-2,097,152 - 2,097,151	target position

Executable timing

Always

Description

Sets the target position in servo mode.

/setTargetPositionList (int)position1 (int)position2 (int)position3 (int)position4

Argument

Argument	Range	Description
position[1-4]	-2,097,152 - 2,097,151	target position

Executable timing

Always

Description

Sets the target positions of the servo mode for all 4 axes at once.