servo_api.md

Commands to servo

Main concept

0b0000xyzv - picking up bricks, where x, y, z, v is the servo number. If x = 1, the brick must be rotated.

0b11110000 - drop bricks. The choice of which ones to turn is taken from the previous capture command

Some base commands

• 48 - Move the gripper to its initial position
• 64 - Simply lift the gripper (not recommended)
• 16 - Calibrate the servo offset. The current position becomes the new midpoint.

To use commands in the behavior tree use the following message:

<GripRotate topic_name="/grip/request" command="48"/>