Example Code for Arduino-Mega-Move Angle Control of DRS-0201 Smart Servo (SER0033)

The article focuses on using Arduino Mega to control motor angles precisely, providing software setup instructions, wiring diagrams, and sample code to achieve efficient servo movement and angle measurement with the Herkulex library.

Software Preparation

Development tool: Arduino IDE (download link: Arduino IDE)
Library: Herkulex Arduino library
Library Manual: Arduino library Manual

Wiring Diagram

Other Preparation Work

Mega has multiple Hardware Serial ports - no need for Software Serial
Verify your motor ID (default: 0xfe)

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));

}