Hello,

I am trying to change the default neutral position of some of the channels in my servo controller. I created a version using Robot C of the NXC program in the Mindsensors NXC library.

Here is the subroutine code I wrote:

bool NXTServoInitialDefault(tSensors link, char channel, ubyte address) {

memset(NXTSERVO_I2CRequest, 0, sizeof(tByteArray));
NXTSERVO_I2CRequest[0] = 3; // Message size
NXTSERVO_I2CRequest[1] = address; // I2C Address
NXTSERVO_I2CRequest[2] = NXTSERVO_CMD; // Command Register
NXTSERVO_I2CRequest[3] = 'I'; // Command
writeI2C(link, NXTSERVO_I2CRequest);
wait1Msec(100);

memset(NXTSERVO_I2CRequest, 0, sizeof(tByteArray));
NXTSERVO_I2CRequest[0] = 3; // Message size
NXTSERVO_I2CRequest[1] = address; // I2C Address
NXTSERVO_I2CRequest[2] = NXTSERVO_CMD; // Command Register
NXTSERVO_I2CRequest[3] = channel; // Channel
return writeI2C(link, NXTSERVO_I2CRequest);
}

And it is not working. The default neutral position is not changed. Can you tell what can be wrong?

Thanks

It looks like you might not be doing the commands quite right. Check out this document: http://www.mindsensors.com/index.php?module=documents&JAS_DocumentManager_op=downloadFile&JAS_File_id=1263. It's the official Mindsensors guide for the NXTServo-v3 sensor. Take a look at pages 4-8, especially page 7 for the I2C command information.