/*
The RegWritePos example passed the test in SCS15, 
and if testing other models of SCS series servos
please change the appropriate position, speed and delay parameters.
*/

// the uart used to control servos.
// GPIO 18 - S_RXD, GPIO 19 - S_TXD, as default.
#define S_RXD 18
#define S_TXD 19

#include <SCServo.h>

SCSCL sc;

void setup()
{
  Serial.begin(115200);
  Serial1.begin(1000000, SERIAL_8N1, S_RXD, S_TXD);
  sc.pSerial = &Serial1;
  delay(1000);
}

void loop()
{
  sc.RegWritePos(1, 1000, 0, 1500);//Servo(ID1) moves at max speed=1500, moves to position=1000.
  sc.RegWritePos(2, 1000, 0, 1500);//Servo(ID2) moves at max speed=1500, moves to position=1000.
  sc.RegWriteAction();//Start moving.
  delay(754);//[(P1-P0)/V]*1000+100
  
  sc.RegWritePos(1, 20, 0, 1500);//Servo(ID1) moves at max speed=1500, moves to position=20.
  sc.RegWritePos(2, 20, 0, 1500);//Servo(ID2) moves at max speed=1500, moves to position=20.
  sc.RegWriteAction();//Start moving.
  delay(754);//[(P1-P0)/V]*1000+100
}
