LX-16A Serial Bus Servo Controller Library

https://www.hiwonder.com/products/serial-bus-servo-controller

https://www.hiwonder.com/products/lx-16a

Overview

This library allows communication with LX-16A serial bus servos using Hiwonder Serial Bus Servo Controller and Arduino-compatible microcontroller like Teensy. It provides functions for controlling individual and multiple servos, reading servo positions, checking battery voltage, and unloading servos.

Tested with 3 servos on a serial bus.

Features

• Move a single servo with custom speed and position.
• Move multiple servos simultaneously.
• Read the current position of a servo.
• Get battery voltage from the controller.
• Unload servos (disable holding torque).

Hardware Requirements

• Arduino-compatible board (e.g., Teensy 4.1)
• LX-16A servos
• Hiwonder Serial Bus Servo Controller
• UART connection (TX/RX)

Controller

Installation

Include the library in your project:

#include "LSCSerial.h"

Wiring

• TX (Teensy/Arduino) → RX (Hiwonder Controller)
• RX (Teensy/Arduino) → TX (Hiwonder Controller)
• GND → GND
• Servo Power via Controller (6.0V - 8.4V)

Hiwonder controller RX/TX is 3.3V level. LX-16A servo has 3.3V level UART. The board has UART connector GND-TX-RX-5V, where 5V is an optional output pin to power Arduino board. LX16-A Servos uses half-duplex UART asynchronous serial interface where SIG pin is the same pin for TX and RX on 5264-3P connector. Controller board includes 74HC126 and a micro to handle 115200 communication with the servo bus according to the LX-16A protocol.

Usage

Initialize the Controller

#include "LSCSerial.h"
LSCSerial servoController(Serial1);
void setup() {
    Serial.begin(115200);
    servoController.begin(9600);
}

Move a Single Servo

servoController.moveServo(1, 700, 1000); // Move servo ID 1 to position 700 in 1000ms

Move Multiple Servos

uint8_t ids[] = {1, 2};
int16_t positions[] = {700, 500};
servoController.moveMultipleServos(2, ids, positions, 1000);

Read Servo Position

uint16_t pos = servoController.readServoPosition(1);
Serial.print("Servo 1 Position: ");
Serial.println(pos);

Get Battery Voltage

uint16_t voltage = servoController.getBatteryVoltage();
Serial.print("Battery Voltage: ");
Serial.print(voltage);
Serial.println(" mV");

Unload Servos (Disable Holding Torque)

uint8_t ids[] = {1, 2};
servoController.unloadServos(2, ids);

Notes

• The servo ID must be set before use.
• Ensure proper baud rate settings for Teensy UART (default: 9600 baud).
• If multiple servos are connected, check the power supply current output is sufficient.

Authors

• Library made by Airis
• Debugged and tested by Alex RH Electronics.