SC-Series Servo

SC-Series Servo library for Arduino and ESP32

Table of Contents

• SC-Series Servo
  • Table of Contents
  • Requirements
  • Usage
    • Installation via Arduino IDE
    • Installation via Arduino CLI
    • Installation of development versions
  • Notes
    • Upstream Compatibility
    • Upstream Notes
  • Contributors
  • License

Requirements

• arduino-lint 1.2.0 or newer
• cpplint 1.6.0 or newer
• clang-format 18.1.0 or newer

Usage

For usage examples, see the examples directory.

Installation via Arduino IDE

For installation via the Arduino IDE, see docs.arduino.cc.

Installation via Arduino CLI

To install the latest version using arduino-cli, use the following command:

arduino-cli lib install SCServo

To install a specific version, use the following command:

arduino-cli lib install SCServo@1.0.2

Installation of development versions

To install an in-development or unreleased version, installation of unsafe libraries must be enabled.

To enable the installation of unsafe libraries, use the following command:

arduino-cli config set library.enable_unsafe_install true

See docs.arduino.cc for more information on the implications.

Once the installation of unsafe libraries is enabled, the SCServo library may be installed by running the following command:

arduino-cli lib install --git-url "https://github.com/workloads/scservo.git"

Development

This repository provides a Makefile-based workflow to aid in development.

Running make without commands will print out the following help information:

📚 SCSERVO LIBRARY

Target          Description                                     Usage
lint-arduino    lint Arduino code using arduino-lint            `make lint-arduino`
lint-cpp        lint C++ code using cpplint and clang-format    `make lint-cpp`
help            display a list of Make Targets                  `make help`
_listincludes   list all included Makefiles and *.mk files      `make _listincludes`
_selfcheck      lint Makefile                                   `make _selfcheck`
vale            lint prose with Vale                            `make vale`
vale-sync       sync Vale dependencies                          `make vale-sync`

Notes

Upstream Compatibility

The initial version of this library (1.0.1) represents a direct fork of @waveshareteam/ugv_base_general.

The fork is based on commit 91e5871 and extracts the SCServo directory from the original repository to allow for easier downstream consumption via the Arduino CLI and IDE.

While the intent of this fork is to remain compatible with the upstream repository, no guarantees are made regarding the stability or compatibility of this library with the original repository.

Upstream Notes

The code for the SCServo library is divided into the following parts:

• communication layer: src/SCS.cpp
• hardware interface layer: src/SCSerial.cpp
• application layer:
  • corresponds to the three series of FIT servos
    • SCSCL application layer program: src/SCSCL.h and src/SCSCL.cpp
    • SMSBL, SMSCL, and STSCL application layer program: src/SMS_STS.h and src/SMS_STS.cpp
• instruction definition header file: src/INST.h
• communication layer program: src/SCS.h and src/SCS.cpp
• hardware interface program: src/SCSerial.h and src/SCSerial.cpp

Note that there are differences in the memory table definitions of different series of servos.

Release Ingressing

New (GitHub) releases of this library are automatically ingressed by the Arduino Library Manager.

A log of currently "visible" releases can be found at downloads.arduino.cc.

Contributors

For a list of current (and past) contributors to this repository, see GitHub.

License

Licensed under the General Public License, Version 3.0 (the "License").

You may download a copy of the License at gnu.org/licenses/gpl-3.0.txt.

See the License for the specific language governing permissions and limitations under the License.