Can not get feedback value (motor speed)

[ibrahimseleem]

Hello, thanks a lot for your toolbox.

I am trying to rotate the servo motor in continuous mode. Then, I tried to get the instantaneous velocity. However, I only get -1 which means that there is a problem with reading the velocity. I tested more than one motor and still get -1.

Here is the simple code:

#include <Herkulex.h>
int n=0xfe; //motor ID - verify your ID !!!!

void setup()
{
delay(2000); //a delay to have time for serial monitor opening
Serial.begin(115200); // Open serial communications
Serial.println("Begin");
Herkulex.beginSerial1(115200); //open serial port 1
Herkulex.reboot(n); //reboot first motor
delay(500);
Herkulex.initialize(); //initialize motors
delay(200);

Herkulex.setLed(n,LED_GREEN2); //set the led to green

delay(1000);
Herkulex.setLed(n, LED_CYAN);
}

void loop(){
Herkulex.moveSpeedOne(n,300, 100, LED_BLUE); //move motor with 300 speed
Serial.println(Herkulex.getSpeed(n));
delay(100);

}

I will be appreciated if you can help.

[cesarvandevelde]

I won't be able to offer much help. It's been years since I last used those servos, and I don't have any available right now.
That being said, I remember that the functionality in continuous rotation mode is limited. Many commands only work in position mode. Check the datasheet to see if the function is supported. Also, try changing the code to position control mode to see if it works in that case...