Continuous rotation mode
It is also possible to use Herkulex servos in continuous rotation mode. In this mode, the servo can move beyond its range of roughly 320°. However, position control is no longer possible. The motion algorithm will control the speed instead.
Setup
By default, the servo boots into position control mode. Speed control mode needs
to be explicitly enabled using the enableSpeedControlMode() method.
Important: The servo's control mode can only be switched when torque is
turned off. This can be done using the setTorqueOff() method.
Turn torque off:
my_servo.setTorqueOff();
Then, switch to speed control mode:
my_servo.enableSpeedControlMode();
Controlling speed
The rotation speed can be set using the setSpeed() method. This method is
analogous to the setPosition() method, but only works in speed control mode.
Speed is expressed as a number ranging from -1023 to +1023. The direction of
rotation is determined by the sign of the speed parameter.
Tip: setSpeed() has an optional playtime and led color parameter, just
like setPosition().
Tip: setSpeed() can also be used in conjunction with prepareIndividualMove()
and prepareSynchronizedMove().
Set speed:
my_servo.setSpeed(600);
Then, turn torque back on:
my_servo.setTorqueOn();
Switching back
Switching back to position control mode can be done using the
enablePositionControlMode() method. Again, torque needs to be switched off
before changing control modes.
Turn torque off:
my_servo.setTorqueOff();
Then, switch to position control mode:
my_servo.enablePositionControlMode();