Arduino_setPosition

Supported by xArm/LeArm

Sets the position(s) of the specified servo(s). Optionally returns after duration has elapsed. There are three forms.

Set position by servo_id

void setPosition(int servo_id, unsigned position, unsigned duration = 1000, bool wait = false);

Sets one servo's position. Optionally specify duration and wait.

Parameters:

servo_id: The ID number (1 - 6) of the servo.
position: The position to set the servo to. The value will be clamped to the expected range for each servo depending on mode.
- xArm mode: 0 to 1000 for all servos.
- LeArm mode: 1500 to 2500 for servo 1; 500 to 2500 for servos 2 through 6.
duration: (optional) The length of time in milliseconds to traverse the servo movement. By default, the duration is 1000 milliseconds.
wait: (optional) When true, the function will return after duration has elapsed. By default, the function will return immediately and servo movement will continue for the duration.

Returns:

void setPosition(xArmServo servo, unsigned duration = 1000, bool wait = false);

Set one servo's position by xArmServo object. Optionally specify duration and wait.

Parameters:

servo: The xArmServo object defining servo ID and position of the servo.
duration: (optional) The length of time in milliseconds (0 - 3000) to traverse the servo movement. By default, the duration is 1000 milliseconds.
wait: (optional) When true, the function will return after duration has elapsed. By default, the function will return immediately and servo movement will continue for the duration.

Returns:

void setPosition(xArmServo servos[], int count, unsigned duration = 1000, bool wait = false);

Set one or more servos' positions by and array of xArmServo object. Optionally specify duration and wait.

Parameters:

servos[]: An array of one or more xArmServo objects defining servo ID and position of each servo.
count: The number of servos in the servos array.
duration: (optional) The length of time in milliseconds (0 - 3000) to traverse the servo movement. By default, the duration is 1000 milliseconds.
wait: (optional) When true, the function will return after duration has elapsed. By default, the function will return immediately and servo movement will continue for the duration.

Returns: