Example Code for Arduino-Mega

Software Preparation

Development tools: Arduino IDE (download from Arduino official website). Library: Herkulex library (download from Arduino library). Installation: Follow Arduino library installation instructions to add the Herkulex library to Arduino IDE.

Wiring Diagram

Servo Motor Pinout

Black :GND
Red :VDD(7.4V)
Blue :TXD
Yellow :RXD

Sample Code

#include <Herkulex.h>
int n=0xfe; //motor ID - verify your ID !!!!

void setup()
{
  delay(2000);  //a delay to have time for serial monitor opening
  Serial.begin(115200);    // Open serial communications
  Serial.println("Begin");
  Herkulex.beginSerial1(115200); //open serial port 1
  Herkulex.reboot(n); //reboot first motor
  delay(500);
  Herkulex.initialize(); //initialize motors
  delay(200);
}

void loop(){
  Serial.println("Move Angle: -100 degrees");
  Herkulex.moveOneAngle(n, -100, 1000, LED_BLUE); //move motor with 300 speed
  delay(1200);
  Serial.print("Get servo Angle:");
  Serial.println(Herkulex.getAngle(n));
  Serial.println("Move Angle: 100 degrees");
  Herkulex.moveOneAngle(n, 100, 1000, LED_BLUE); //move motor with 300 speed
  delay(1200);
  Serial.print("Get servo Angle:");
  Serial.println(Herkulex.getAngle(n));

}