I am trying to build Demo_ServoMode.ino for a ESP32 S3 WROOM-1, codefrom SB Components.
This Arduino code calls sbservo.h
/*
* Demo code for Servo Mode operation
*/
#include <SBServo.h>
SBServo sb;
// GPIO 18 - S_RXD, GPIO 17 - S_TXD, as default.
#define S_RXD 18
#define S_TXD 17
const int ID = 0x02; // Change ID as per your Serial Servo Motor
void setup()
{
Serial1.begin(115200, SERIAL_8N1, S_RXD, S_TXD);
sb.pSerial = &Serial1;
delay(1000);
}
void loop()
{
sb.WritePos(ID, 1000, 0, 1500); // SERVO ID, Position, Time, Speed; => 1500 Steps/Seconds,
delay(754);
sb.WritePos(ID, 20, 0, 1500); // SERVO ID, Position, Time, Speed; => 1500 Steps/Seconds,
delay(754);
}
/*
* SBServo.h
* SB Servo Arduino Interface Library
* Date: 01/01/2020
* Author: SB Components
*/
#ifndef _SBSERVO_H
#define _SBSERVO_H
//-------Baud Rate--------
#define SBS_1M 0
#define SBS_0_5M 1
#define SBS_250K 2
#define SBS_128K 3
#define SBS_115200 4
#define SBS_76800 5
#define SBS_57600 6
#define SBS_38400 7
// Memory Address
//-------EPROM(Read only)--------
#define SBS_VERSION_L 3
#define SBS_VERSION_H 4
//-------EPROM(Read And write)--------
#define SBS_ID 5
#define SBS_BAUD_RATE 6
#define SBS_MIN_ANGLE_LIMIT_L 9
#define SBS_MIN_ANGLE_LIMIT_H 10
#define SBS_MAX_ANGLE_LIMIT_L 11
#define SBS_MAX_ANGLE_LIMIT_H 12
#define SBS_CW_DEAD 26
#define SBS_CCW_DEAD 27
//-------SRAM(Read & Write)--------
#define SBS_TORQUE_ENABLE 40
#define SBS_GOAL_POSITION_L 42
#define SBS_GOAL_POSITION_H 43
#define SBS_GOAL_TIME_L 44
#define SBS_GOAL_TIME_H 45
#define SBS_GOAL_SPEED_L 46
#define SBS_GOAL_SPEED_H 47
#define SBS_LOCK 48
//-------SRAM(Read Only)--------
#define SBS_PRESENT_POSITION_L 56
#define SBS_PRESENT_POSITION_H 57
#define SBS_PRESENT_SPEED_L 58
#define SBS_PRESENT_SPEED_H 59
#define SBS_PRESENT_LOAD_L 60
#define SBS_PRESENT_LOAD_H 61
#define SBS_PRESENT_VOLTAGE 62
#define SBS_PRESENT_TEMPERATURE 63
#define SBS_MOVING 66
#define SBS_PRESENT_CURRENT_L 69
#define SBS_PRESENT_CURRENT_H 70
#include <SoftwareSerial.h>
#include "Serial.h"
class SBServo : public Serial
{
public:
SBServo();
SBServo(u8 End);
SBServo(u8 End, u8 Level);
virtual int WritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0); // Write Position of a single Servo
virtual int RegWritePos(u8 ID, u16 Position, u16 Time, u16 Speed = 0); // Asynchronous Write Servo Position
virtual void SyncWritePos(u8 ID[], u8 IDN, u16 Position[], u16 Time[], u16 Speed[]); // Write Position for multiple Servos
virtual int PWMMode(u8 ID); // PWM output Mode
virtual int WritePWM(u8 ID, s16 pwmOut); // PWM output Mode Instruction
virtual int EnableTorque(u8 ID, u8 Enable); // Torque control
virtual int unLockEprom(u8 ID); // EEPROM Unlock
virtual int LockEprom(u8 ID); // EEPROM Lock
virtual int FeedBack(int ID); // Feedback Servo Information
virtual int ReadPos(int ID); // Read Position
virtual int ReadSpeed(int ID); // Read Speed
virtual int ReadLoad(int ID); // Read Torque
virtual int ReadVoltage(int ID); // Read Voltage
virtual int ReadTemperature(int ID); // Read Temperature
virtual int ReadMove(int ID); // Read Servo moving
virtual int ReadCurrent(int ID); // Read Current
private:
u8 Mem[SBS_PRESENT_CURRENT_H-SBS_PRESENT_POSITION_L+1];
};
#endif
which then calls
#include <SoftwareSerial.h>
#include "Serial.h"
I have seen very old references to SoftwareSerial.h, but nothing at all new. How to I work around this issue these days?
Thanks
