Understanding these parameters is crucial for controlling Feetech servos:
Mode: Determines the servo's primary function.
Mode 0: Position/Servo Mode. The servo moves to and holds a specific
angular position.
Mode 1: Wheel/Speed Mode. The servo rotates continuously at a specified
speed and direction, like a motor.
Changing the mode requires unlocking, writing the mode value (0 or 1), and locking the
configuration.
Position: In Position Mode (Mode 0), this value represents the target
or current angular position of the servo's output shaft.
Range: Typically 0 to 4095 (representing a 12-bit
resolution).
Meaning: Corresponds to the servo's rotational range (e.g., 0-360 degrees or 0-270
degrees, depending on the specific servo model). 0 is one end of the
range, 4095 is the other.
Speed (Wheel Mode): In Wheel Mode (Mode 1), this value controls the
rotational speed and direction.
Range: Typically -2500 to +2500. (Note: Some documentation
might mention -1023 to +1023, but the SDK example uses a wider range).
Meaning: 0 stops the wheel. Positive values rotate in one direction
(e.g., clockwise), negative values rotate in the opposite direction (e.g.,
counter-clockwise). The magnitude determines the speed (larger absolute value means
faster rotation).
Control Address: ADDR_SCS_GOAL_SPEED (Register 46/47).
Acceleration: Controls how quickly the servo changes speed to reach its
target position (in Position Mode) or target speed (in Wheel Mode).
Range: Typically 0 to 254.
Meaning: Defines the rate of change of speed. The unit is 100 steps/s².
0 usually means instantaneous acceleration (or minimal delay). Higher
values result in slower, smoother acceleration and deceleration. For example, a
value of 10 means the speed changes by 10 * 100 = 1000 steps per
second, per second. This helps reduce jerky movements and mechanical stress.
Control Address: ADDR_SCS_GOAL_ACC (Register 41).
Baud Rate: The speed of communication between the controller and the
servo. It must match on both ends. Servos often support multiple baud rates, selectable
via an index: