SMS_STS functions

SMS_STS.h

	virtual int WritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0); // Mode 0: Ordinary write single servo position
	virtual int RegWritePosEx(u8 ID, s16 Position, u16 Speed, u8 ACC = 0); // Mode 0: Async write single servo position (RegWriteAction takes effect)
	virtual void SyncWritePosEx(u8 ID[], u8 IDN, s16 Position[], u16 Speed[], u8 ACC[]); // Mode 0: Sync write multiple servo positions
	virtual int Mode(u8 ID, u8 mode); // Set mode: 0 (servo), 1 (wheel; closed loop) or 2 (wheel; open loop)
	virtual int WriteSpe(u8 ID, s16 Speed, u8 ACC = 0); // Mode 1: Ordinary write single servo speed
 	virtual int RegWriteSpe(u8 ID, s16 Speed, u8 ACC = 0); // Mode 1: Async write single servo speed
	virtual void SyncWriteSpe(u8 ID[], u8 IDN, s16 Speed[], u8 ACC[]); // Mode 1: Sync write multiple servo speeds
	virtual int WritePwm(u8 ID, s16 Pwm); //Mode 2: Ordinary write single servo PWM
	virtual int RegWritePwm(u8 ID, s16 Pwm); //Mode 2: Async write single servo PWM
	virtual void SyncWritePwm(u8 ID[], u8 IDN, s16 Pwm[]); // Mode 2: Sync write multiple servo PWMs
	virtual int EnableTorque(u8 ID, u8 Enable); // Enable torque
	virtual int unLockEprom(u8 ID); // EEPROM unlock 
	virtual int LockEprom(u8 ID);// EEPROM lock
	virtual int CalibrationOfs(u8 ID); // Median calibration
	virtual int FeedBack(int ID); // Servo feedback information 
	virtual int ReadPos(int ID); // Read servo position
	virtual int ReadSpeed(int ID); // Read servo speed
	virtual int ReadLoad(int ID); // Read PWM percentage output to the motor ([-1000, 1000] = [100% reverse, 100% forward])
	virtual int ReadVoltage(int ID); // Read motor voltage 
	virtual int ReadTemper(int ID); // Read motor temperature
	virtual int ReadMove(int ID); // Read motion status
	virtual int ReadCurrent(int ID); // Read motor current