ICS bus to PWM servo Adapter
This adapter let you connect PWM servos to KONDO ICS serial servo bus.
A adapter can controls up to 4 PWM servos.
Supported commands
This adapter supports a subset of ICS commands. The supported commands are Set Position and Read / Write ID. Other commands are ignored. In addition, the response value of Set Position command is just a dummy data. You can never get position, current or temperature from PWM servos.
See the following URL for the details of ICS commands.
https://kondo-robot.com/faq/ics3-5_3-6softwaremanual_2
(1) Set Position
The parameter of Set Position is interpreted as the following.
| Value | Operation |
|---|---|
| 0 | Disables PWM output. |
| 500 to 2500 | Executes Servo::writeMicroseconds(). |
| 3500 to 11500 | ICS compatible position mode. Converts (3500 - 11500) to (544 - 2400), and executes Servo::writeMicroseconds(). |
(2) Read / Write ID
The ID of a adapter must be a multiples of 4, and the adapter has 4 offset IDs (+0 to +3).
For example, consider the adapter which ID is 8. The ID of servos connected to this addapter are 8, 9, 10 and 11.
Hardware
The hardware of this adapter is made of GR-KURUMI. GR-KURUMI is a kind of Aduino-based MCU board (Renesas RL78/G13).
You can also select another Arduino-based MCU board such as Arduino Pro Mini. However, most of Arduino-based MCU boards don't support open drain output of serial port. In that case, insert a diode between TxD and RxD.
Software
The software of this adapter is Arduino based.
- IcsPwm : The schetch of this adapter. It is for GR-KURUMI.
- IcsPwmTest1 : A test code of ICS controller. It is for GR-ROSE.
- IcsPwmTest2 : Another test code of ICS controller. It is also for GR-ROSE.
HardwareSerial::begin() of GR-KURUMI is buggy. The following is a temporary bug fixed sources. The official bug fixed update is coming soon.
Configure
IcsPwm/config.h configures hardware settings.
| Macro | Description | Default Value |
|---|---|---|
DEBUG_SERIAL |
Serial port for debug | Serial |
ICS_SERIAL |
Serial port for ICS bus | Serial1 |
PIN_ICS_TX |
TX pin of ICS_SERIAL |
7 |
ICS_BAUD |
Baud rate for ICS bus | 115200 |
SERVO_NUM |
Maximum number of servos | 4 |
PIN_SERVO_0 - PIN_SERVO_7 |
PWM output pins | 3, 5, 6, 9 |
