master_i2c_fw : sample usage of SD21 clone slave_i2c_fw : SD21 clone firmware

SD21 Specifications:

• I2C @ == 0xC2 == 11000010b

• Register 0xN : speed servo N

• Register 1xN : low byte servo N

• Register 2xN : high byte servo N

• Register 64: SW version

• Register 65: Battery volts

• timer 20ms

• min 1000us pulse (theory)

• max 2000us pulse (theory)

• min 550us (cortex)

• max 2600us

Amelioration:

• OCP: 3A ?
• Selectable I2C @
• Calibration mode (all servo put on 0° with 1500ms pulse)