Exemple

Get the servo behaviour Get the current servo behaviour. See the user manuel for more details about the parameters.

Parameters

[out]	inputVoltage	: Current servo input voltage. Its value is given in millivolts. This parameter is optionnal, either set the address of a uint16_t (or unsigned int) variable to return the value, or set HKX_NO_VALUE to ignore it.
[out]	temperature	: Current temperature of the servo. Its value is given in 10^-2 °C (degree Celcius). This parameter is optionnal, either set the address of a uint16_t (or unsigned int) variable to return the value, or set HKX_NO_VALUE to ignore it.
[out]	position	: Current relative position of the servo. Its value is given in 10^-1 degrees. This parameter is optionnal, either set the address of a uint16_t (or unsigned int) variable to return the value, or set HKX_NO_VALUE to ignore it.
[out]	velocity	: Current angle velocity of the servo. Its value is given in degree / second. This parameter is optionnal, either set the address of a uint16_t (or unsigned int) variable to return the value, or set HKX_NO_VALUE to ignore it.
[out]	PWM	: Current PWM (load) of the servo. Its value is given in PWM (raw). This parameter is optionnal, either set the address of a uint16_t (or unsigned int) variable to return the value, or set HKX_NO_VALUE to ignore it.
[out]	goalPosition	: Goal position of the current move of the servo. Its value is given in 10^-1 degrees. This parameter is optionnal, either set the address of a uint16_t (or unsigned int) variable to return the value, or set HKX_NO_VALUE to ignore it.
[out]	trajectoryPosition	: Current trajectory position - desired position at a given time according the trajectory - of the servo. Its value is given in 10^-1 degrees. This parameter is optionnal, either set the address of a uint16_t (or unsigned int) variable to return the value, or set HKX_NO_VALUE to ignore it.
[out]	trajectoryVelocity	: Current trajectory velocity - desired velocity at a given time according the trajectory - of the servo. Its value is given in degree / second. This parameter is optionnal, either set the address of a uint16_t (or unsigned int) variable to return the value, or set HKX_NO_VALUE to ignore it.

Returns

0 = OK
1 = Input not correct
2 = Servo not connected 1: how to get all the values.
Exemple 2: how to get the current position only.