Arduino based control for continous rotation servos.
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crs-control
README.md

README.md

CRS-control

Software for Arduino based control system for continous rotation servos. Each arduino is determined to control one H-Bridge which is connected to one DC-motor. The motor has to give feedback about relative movement using a rotary encoder directly to the arduino.

CRS-control is designed to be a subsystem used in a CNC-machine. The CNC-machine is determined to be build of a central unit that coordinates movement of all motors by communicating to each subsystem(CRS-control) via I2C(twi-Two wire communication).

TWI-Protocol

cmd param description
01 - get current position.
02 - get current speed.
03 set target position
04 set max speed
05 set max acceleration