arduino控制dynamixel AX-12A的机械臂每个关节转45度

1.每个关节转45，往复循环

#include <ax12.h>

void setup()
{

    SetPosition(1,511); //set the position of servo # 1 to '511'
     SetPosition(2,511);
      SetPosition(3,511);
       SetPosition(4,511);
        SetPosition(5,400);
    delay(100);//wait for servo to move
}

void loop()
{
        //increment from 511 to 664
          for(int i=511;i<664;i++)
         {
              //set the position of servo #1 to the current value of 'i'
              SetPosition(2,i);
              SetPosition(3,i);
              SetPosition(4,i);
              SetPosition(5,i-111);
              delay(10);//wait for servo to move
          }
          delay(1000);//wait for servo to move
          //decrement from 664 to 511
         for(int i=664;i>511;i--)
        {
            //set the position of servo #1 to the current value of 'i'
            SetPosition(2,i);
            SetPosition(3,i);
            SetPosition(4,i);
             SetPosition(5,i-111);
             delay(10);//wait for servo to move
         }
        delay(1000);//wait for servo to move

}

2.之转一次，并归位

#include <ax12.h>

void setup()
{

    SetPosition(1,511);
     SetPosition(2,511);
      SetPosition(3,511);
       SetPosition(4,511);
        SetPosition(5,400);
    delay(100);
}

void loop()
{

        //increment from 0 to 1023
          for(int i=511;i<664;i++)
         {

              SetPosition(2,i);
              SetPosition(3,i);
              SetPosition(4,i);
              SetPosition(5,i-111);
              delay(10);
          }
          delay(1000);

         for(int i=664;i>511;i--)
        {

            SetPosition(2,i);
            SetPosition(3,i);
            SetPosition(4,i);
             SetPosition(5,i-111);
             delay(10);
         }
        delay(1000);
    }

总结：

开始不知到怎么跳出loop()，只能用这种方法了，不知道有没有什么语句可以直接跳出。