node-red-contrib-seeed-recamera/nodes/set_motor_speed.html

Node-RED nodes for reCamera

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                <span>Pitch Axis (Up and Down)</span>
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<script type="text/markdown" data-help-name="set-motor-speed">
# Set Motor Speed

This node configures the rotation speed for a selected motor in the reCamera Gimbal system.

## Overview

The node sets the speed value for either the yaw (horizontal) or pitch (vertical) motor. This speed setting is stored in the global context and used by other motor control nodes when sending movement commands using SocketCAN.

## Input

The input should be a numeric value representing the desired motor speed. The value can be provided in the following formats:

-   Number: `90`
-   String containing a number: `"45"`

## Input Configuration

You can specify where to get the input value from:

-   **msg**: A property of the incoming message (e.g., `payload`)
-   **flow**: A flow context variable
-   **global**: A global context variable

## Motor Selection

-   **Yaw Axis (Left and Right)**: Sets the speed for the horizontal movement motor
-   **Pitch Axis (Up and Down)**: Sets the speed for the vertical movement motor

## Speed Units

The speed value is measured in dps/LSB (degrees per second / Least Significant Bit), which is the resolution of the motor's speed control. The valid range is 0 to 65535, with typical values between 50 and 200.

Speed reference values:

-   **Slow movement**: 1-120
-   **Medium movement**: 120-360
-   **Fast movement**: 360-720

## Status Display

The node displays the current speed setting in its status:

-   Green dot with "Yaw Speed: X" or "Pitch Speed: X" when successfully set
-   Red ring with error message if setting fails

## Global Context Variables

The node updates the following global context variables:

-   Yaw motor: `can$$currentYawSpeed`
-   Pitch motor: `can$$currentPitchSpeed`

## Technical Notes

-   This node works with the SocketCAN communication system used by other motor control nodes
-   The speed value is stored in hexadecimal format (e.g., "5A.00" for speed 90) in the global context
-   The motor control nodes retrieve these values when sending commands through the CAN bus
-   The default speed value is 90 if no custom speed has been set

## Error Handling

The node will report errors in the following cases:

-   Invalid input value (not a number)
-   Empty input value

## Example Usage

1. Set a slow speed for precise positioning:

    ```
    msg.payload = 60;
    return msg;
    ```

2. Set a fast speed for quick movements:
    ```
    msg.payload = 150;
    return msg;
    ```
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