Using two SYNC_WRITE instructions

[freeforall]

Hello

When I send two SYNC_WRITE instructions successively (in a C program), the Bioloid only executes the second one.

Is there any way to make the robot execute the second instruction exactly after the end of the execution of the first one?

Thank you.

[JonHylands]

It probably does, but if you don't give it time to move the servos to the position specified in the first, it will effectively just execute the second.

You need to figure out how long it will take to move each servo to the new location, and pause that long before sending the next command.

- Jon

[freeforall]

ok. But how can I pause? Is there any function for that?

[billyzelsnack]

Say you want to send this set of positions to a servo.

100
500
100

If you sent all 3 packets immediately the servo would pretty much skip the 500 because it never had any time to make it to 500. To "pause" you just wait before you send another packet.

[freeforall]

yes I understood. but I don't know how to make a pause. there is no function for that. In <windows> for example there the function Sleep() but I can't use it for the Bioloid. If you know a function that I can use to make a pause please let me know.
thank you

[Bullit]

freeforall you might want to lookhere for some library functions.
WinAVR contains a include delay.h you'll want to look at and _delay_ms function. Make sure you define F_CPU to 16E6 for the CM-5. and before the include of delay.h.

[freeforall]

Actually, I've already tried this function but it didn't work and I can't figure out why. In delay.h, I replaced #define F_CPU 1000000UL with # define F_CPU 16E6 but it doesn't work. I don't really know where the problem comes from. So if you have any ideas to help me I'd be grateful.

Thank you