LX-16A Bus Servo Library for Arduino

A lightweight object-oriented library with a class for controlling bus servo motors (Hiwonder, LewanSoul) using a BusLinker.

It basically contains LX16A class and logic that are very similar to the PyLX-16A package. But this implementation is in C++.

Features

• Compatible with 3-pin LX-16A bus servo motors, and possibly with other servos of this family
• Provides an easy-to-use class with methods
• Contains examples with smooth motion (easing in and out) in servo and motor modes

Requirements

• Any Arduino or Arduino-core board
• Arduino IDE, PlatformIO, or another IDE
• BusLinker, also known as the TTL/USB Debug Board for Serial Bus Servo
• Could be used directly without BusLinker but read (get) methods will not work
• External power for the motor

Video Tutorial with Electronics

Installation

Put the files from the src directory into your project (sketch directory), or install via the Arduino Library Manager (after this library is added to the Library Manager).

Usage: All Methods and Descriptions

Create the instance of the servomotor:
LX16A(uint8_t id, HardwareSerial &serial);

Initialize the servo and read some of its parameters:
void initialize(long baud = 115200);

Set the ID of the servo:
void setID(uint8_t new_id);

Rotate to the given angle (for LX-16A from 0 to 240):
void move(float angle, uint16_t time = 0, bool wait = false);

Enable torque so that it does not relax (prevents moving due to gravity or other forces):
void enableTorque();

Disable torque so that you can rotate it, for instance, with your hands:
void disableTorque();

Read the physical angle at which the servo is currently positioned:
float getPhysicalAngle();

Read the last commanded angle (not necessarily the same as physical angle):
float getCommandedAngle();

Set the servo to the motor mode (continuous rotation without positioning):
void setMotorMode(int16_t speed);

Set the servo to the servo mode (positioning, no continuous rotation):
void setServoMode();

Turn on internal servo LED:
void ledPowerOn();

Turn off internal servo LED:
void ledPowerOff();

Check if the servo is in the motor mode:
bool isMotorMode(bool pollHardware = false);

Check if torque is enabled:
bool isTorqueEnabled(bool pollHardware = false);

Check if internal LED is on:
bool isLedPowerOn(bool pollHardware = false);

Read the current temperature at the servo in °C:
int getTemp();

Read supplied voltage in millivolts:
int getVin();

Example

See more examples and get smooth motion classes in the examples folder.

#include <Arduino.h>
#include "LX16A-bus.h"

LX16A motor1(1, Serial);
LX16A motor2(2, Serial);

void setup() {
  Serial.begin(115200);
  motor1.initialize();
  motor1.enableTorque();
  motor2.initialize();
  motor2.enableTorque();
  motor1.setServoMode();
  motor2.setServoMode();
}

void loop() {
  float angle = motor1.getPhysicalAngle();
  delay(50);
  Serial.print("angle: ");
  Serial.println(angle);
  motor1.move(240);
  delay(1000);
  motor2.move(240);
  delay(2000);
  angle = motor1.getPhysicalAngle();
  delay(50);
  Serial.print("angle: ");
  Serial.println(angle);
  motor1.move(0);
  delay(1000);
  motor2.move(0);
  delay(2000);
}

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