# Change XYZ to the UID of your Servo Bricklet 2.0

setup:
	# Servo 1: Connected to port 0, period of 19.5ms, pulse width of 1 to 2ms
	#          and operating angle -100 to 100°
	publish '{"servo_channel": 0, "min": -10000, "max": 10000}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_degree

	publish '{"servo_channel": 0, "min": 1000, "max": 2000}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_pulse_width

	publish '{"servo_channel": 0, "period": 19500}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_period

	publish '{"servo_channel": 0, "velocity": 500000, "acceleration": 1000, "deceleration": 1000}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_motion_configuration # Full velocity with slow ac-/deceleration

	# Servo 2: Connected to port 5, period of 20ms, pulse width of 0.95 to 1.95ms
	#          and operating angle -90 to 90°
	publish '{"servo_channel": 5, "min": -9000, "max": 9000}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_degree

	publish '{"servo_channel": 5, "min": 950, "max": 1950}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_pulse_width

	publish '{"servo_channel": 5, "period": 20000}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_period

	publish '{"servo_channel": 5, "velocity": 500000, "acceleration": 500000, "deceleration": 500000}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_motion_configuration # Full velocity with full ac-/deceleration

	publish '{"servo_channel": 0, "position": 10000}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_position # Set to most right position

	publish '{"servo_channel": 0, "enable": true}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_enable

	publish '{"servo_channel": 5, "position": -9000}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_position # Set to most left position

	publish '{"servo_channel": 5, "enable": true}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_enable

cleanup:
	# If you are done, run this to clean up
	publish '{"servo_channel": 0, "enable": false}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_enable

	publish '{"servo_channel": 5, "enable": false}' to tinkerforge/request/servo_v2_bricklet/XYZ/set_enable
