PR for review

LICENSE

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+MIT License
+
+Copyright (c) 2024 Yaroslav Demchenko
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+<div align="center"><img src="https://github.com/user-attachments/assets/ec4122c9-606f-4953-a0cf-03f3bd8f9b3a" width="30%"></div>
+
+<h1 align="center">OCServo library</h1>
+
+<div align="center">
+
+<a href="/LICENSE">![GitHub](https://img.shields.io/github/license/JarikDem-Bot/OCServo)</a>
+<a href="https://github.com/JarikDem-Bot/OCServo">![Static badge](https://img.shields.io/badge/OCServo-green)</a>
+<a href="https://www.arduino.cc/">![Static badge](https://img.shields.io/badge/Arduino-blue)</a>
+
+</div>
+
+This library allows you to easily control servomotors of ROBS series of [OCServo manufacturer](https://en.ocservo.com/). 
+
+## Installation
+
+[Tutorial with screen-shots how to download a library from GitHub and installing a ZIP-library](https://forum.arduino.cc/t/tutorial-with-screen-shots-how-to-download-a-library-from-github-and-installing-a-zip-library/994122/1)
+
+## Connection
+
+Connected using UART to RS485 board included to servomotor.
+| Arduino | Servo Board |
+| ----- | --- |
+| Tx1*  | Tx  |
+| Rx1*  | Rx  |
+| 5V    | 5V  |
+| GND   | GND |
+
+\* I used Hardware Serial port 1, but library supports any** Hardware or Software serial port.
+
+\** Default baud rate value for servo is 1M, so port must be able to handle this value.
+
+## Documentation
+Detailed documentation can be found [->HERE<-](/docs/readme.md)
+
+Also, check out [examples](/examples)!
+
+## Tested on
+
+Motors models:
+- OCServo ROBS-301 servomotor
+
+Boards:
+- Arduino Mega 2560 Pro
+- STM32F411 BlackPill ([Platformio](https://platformio.org/) and Arduino framework)
+
+## Resources
+
+- [OCServo documentations](https://en.ocservo.com/?page_id=8127)
+- [ROBS-301 documentation](https://fcdn.goodq.top/caches/5bccc64925e01bd6f0a7519abd81e6a1/aHR0cDovL2VuLm9jc2Vydm8uY29tL3FmeS1jb250ZW50L3VwbG9hZHMvMjAyMy8wNS8xOWRmOTc4OTAxMDI0NGJlYjk0ZGE1YzQ3MWI0MTI0MC5wZGY_p_p100_p_3D.pdf)
+- [OCServo store](https://en.ocservo.com/?page_id=15418&qfyuuid=-1&q_term=44&q_type=products)
+
+## License
+
+[MIT](/LICENSE)

docs/readme.md

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+# OCServo documentation
+
+__Content:__
+- [Structures and Enums](https://github.com/JarikDem-Bot/OCServo/edit/master/docs/readme.md#structures-and-enums)
+- [Constructors](https://github.com/JarikDem-Bot/OCServo/edit/master/docs/readme.md#constructors)
+- [Instructions](https://github.com/JarikDem-Bot/OCServo/edit/master/docs/readme.md#instructions)
+- [Set Values](https://github.com/JarikDem-Bot/OCServo/edit/master/docs/readme.md#set-values)
+- [Get Values](https://github.com/JarikDem-Bot/OCServo/edit/master/docs/readme.md#get-values)
+- [Other](https://github.com/JarikDem-Bot/OCServo/edit/master/docs/readme.md#other)
+
+## Structures and Enums
+
+- `OCSMode` - enum
+  - `OCS_SERVO` - Servo mode (0-360 degrees)
+  - `OCS_MOTOR` - Constant torque output mode
+- `OCSResponseLevel` - enum
+  - `OCS_RESPOND_READ_ONLY` - Servo responds only to read and ping commands
+  - `OCS_RESPOND_ALL` - Servo responds to all commands
+- `OCSResponse` - struct
+  - `byte prefix[2]` - Prefix `0xFF, 0xFF`
+  - `byte id` - ID of servo
+  - `byte length` - Length of instruction
+  - `byte instruction` - Instruction
+  - `int numberOfParameters` - Number of parameters 
+  - `byte parameters[16]` - Supplementary control information except instruction
+  - `byte checksum` - Checksum = ~(ID+Length+Param1+...+ParamN)
+
+## Constructors
+
+- `OCServo (byte id, SoftwareSerial *serialPort)`  
+  - `id` - ID of servomotor
+  - `serialPort` - SoftwareSerial port servo connected to 
+- `OCServo (byte id, HardwareSerial *serialPort)`
+  - `id` - ID of servomotor
+  - `serialPort` - HardwareSerial port servo connected to 
+
+## Instructions
+
+- `void ping()`
+  - Used to read the work state of the servo
+- `OCSResponse ocsRead(byte address, byte length)`
+  - `address` - Data address
+  - `length` - Read length 
+  - Used to read the data inside the servo
+- `OCSResponse ocsWrite(byte address, int paramsNumber, byte *params)`
+  - `address` - Data address
+  - `paramsNumber` - Number of parameters
+  - `*params` - Pointer to array of parameters 
+  - This command is used to write parameters to the servo memory control table
+
+## Set Values
+
+- `OCSResponse setID(byte new_id)`
+  - `new_id` - New ID for servo (0-254)
+  - Changes ID of servomotor
+- `void setBaudRate(long baudrate)`
+  - `baudrate` - New baudrate value
+  - Changes baudrate of servo (supported baud rates: 1M, 500000, 250000, 128000, 115200, 76800, 57600, 38400)
+- `OCSResponse setMaxTorque(int torque)`
+  - `torque` - Torque value (0-1000)
+  - Sets max output torque (0 - min value, 1000 - max value)
+- `OCSResponse setMode(int mode)`
+  - `mode` - `OCS_SERVO` or `OCS_MOTOR`
+  - Sets motor mode
+- `OCSResponse setGoalAngle(int angle, long timeMillis= 0)`
+  - `angle` - Angle in degrees (0-360)
+  - `timeMillis=0` - Time to reach goal im ms (0-65535). Default is 0 (maximum speed)
+  - Sets goal angle for servo. It is possible to specify time in milliseconds.
+- `OCSResponse setGoalPosition(int position, long timeMillis = 0)`
+  - `position` - Goal position (0-4095) 
+  - `timeMillis` - Time to reach goal im ms (0-65535). Default is 0 (maximum speed)
+  - Sets goal angle for servo. It is possible to specify time in milliseconds. Same as setGoalAngle, but has more control of angle.
+- `OCSResponse setOperationTime(long timeMillis)`
+  - `timeMillis` - Time to reach goal im ms (0-65535). Default is 0 (maximum speed)
+  - Sets time to reach goal. Will be overwritten by setGoalAngle or setGoalPosition.
+- `OCSResponse setResponseDelay(int delayMicros)`
+  - `delayMicros` - Delay in microseconds (0-510)
+  - Sets response delay. 
+- `OCSResponse setResponseLevel(int level)`
+  - `level` - `OCS_RESPOND_READ_ONLY` or `OCS_RESPOND_ALL`
+  - Sets level of response.
+- `OCSResponse setMinAngle(int angle)`
+  - `angle` - Angle (0-4095)
+  - Sets min angle of servo
+- `OCSResponse setMaxAngle(int angle)`
+  - `angle` - Angle (0-4095)
+  - Sets max angle servo
+- `OCSResponse setMaxVoltage(int voltage)`
+  - `voltage`
+  - .
+- `OCSResponse setMinVoltage(int voltage)`
+  - `voltage`
+  - .
+- `OCSResponse setOperationSpeed(long speed)`
+  - `speed` - Speed of a servo, AD/ms (0-65535)
+  - Sets the speed of the servo. 
+
+## Get Values
+
+- `byte getID()`
+  - Returns ID of a servo
+  - Returns 255 if error occured
+- `long getBaudRate()`
+  - Returns current baud rate of a servo
+  - Returns -1 if error occured
+- `int getMaxTorque()`
+  - Returns max torque of a servo
+  - Returns -1 if error occured
+- `int getMode()`
+  - Returns motor mode
+  - Returns -1 if error occured.
+- `int getGoalAngle()`
+  - Returns goal angle (0-360 degrees)
+- `int getGoalPosition()`
+  - Returns goal position (0-4095)
+- `long getOperationTime()`
+  - Returns operation time in ms (0-65535)
+- `int getResponseDelay()`
+  - Returns response delay in microseconds (0-510)
+- `int getResponseLevel()`
+  - Returns response level (`OCS_RESPOND_READ_ONLY` or `OCS_RESPOND_ALL`)
+- `int getMinAngle()`
+  - Returns min angle of servo (0-4095)
+- `int getMaxAngle()`
+  - Returns max angle of servo (0-4095)
+- `int getMaxVoltage()`
+  - .
+- `int getMinVoltage()`
+  - .
+- `long getOperationSpeed()`
+  - Returns operation speed in AD/ms (0-65535)
+- `bool reachedGoal()`
+  - Returns true if servo reached it's goal. Otherwise returns false 
+
+## Other
+
+- `void begin(long baudrate=1000000)`
+  - `baudrate` - Baud rate value. Default is 1M
+  - Sets baudrate value for serial port servo connected to.
+  - Function `setBaudRate` calls this method inside, so you do not need to do this manually.
+- `void printResponse(OCSResponse response)`
+  - `response` - `OCSResponse` struct with response.
+  - Prints response structure.

examples/basicReadValues/basicReadValues.ino

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+#include <Arduino.h>
+#include <OCServo.h>
+
+byte id = 0x02;
+int goal = 0;
+unsigned long lastPrint = 0;
+
+OCServo servo(id, &Serial1);
+
+void setup() {
+  Serial.begin(38400);
+
+  // Servo setup
+  servo.begin();
+  servo.setBaudRate(38400);
+
+  // Basic settings for servo mode
+  servo.setMode(OCS_SERVO);
+  OCSResponse fullResponse = servo.setMaxTorque(400);
+}
+
+
+void loop() {
+  if(servo.reachedGoal()) {     // If the servo reached the goal
+    goal = 360 - goal;          // Change the goal
+    servo.setGoalAngle(goal);
+  }
+
+  // Print all the data every second
+  if(millis() > lastPrint + 1000) {
+    Serial.print("ID: 0x");           Serial.println(servo.getID(), HEX);
+    Serial.print("Baud rate: ");      Serial.println(servo.getBaudRate());
+    Serial.print("Max torque: ");     Serial.println(servo.getMaxTorque());
+    Serial.print("Mode: ");           Serial.println((servo.getMode() == OCS_SERVO) ? "SERVO" : "MOTOR");    
+    Serial.print("Goal Angle: ");     Serial.println(servo.getGoalAngle());
+    Serial.print("Goal Position: ");  Serial.println(servo.getGoalPosition());
+    Serial.print("Operation Time: "); Serial.println(servo.getOperationTime());
+    Serial.print("Response Delay: "); Serial.println(servo.getResponseDelay());
+    Serial.print("Response level: "); Serial.println((servo.getResponseLevel() == OCS_RESPOND_READ_ONLY) ? "READ ONLY" : "ALL");   
+    Serial.print("Min Angle: ");      Serial.println(servo.getMinAngle());
+    Serial.print("Max Angle: ");      Serial.println(servo.getMaxAngle());
+    Serial.print("Min Voltage: ");    Serial.println(servo.getMinVoltage());
+    Serial.print("Max Voltage: ");    Serial.println(servo.getMaxVoltage());
+    Serial.print("Operation Speed: ");Serial.println(servo.getOperationSpeed());
+    lastPrint = millis();
+  }
+}

examples/basicRotation/basicRotation.ino

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+#include <Arduino.h>
+#include <OCServo.h>
+
+byte id = 0x02;
+
+OCServo servo(id, &Serial1);
+
+void setup() {
+  // put your setup code here, to run once:
+  Serial.begin(38400);
+
+  // Servo setup
+  servo.begin();
+  servo.setBaudRate(38400);
+
+  // Basic settings for servo mode
+  servo.setMode(OCS_SERVO);
+  servo.setMaxTorque(200);
+}
+
+
+void loop() {
+  // Move the servo to 360 degrees for 3 seconds
+  servo.setGoalPosition(360, 3000);
+  delay(3000);
+
+  // Move the servo to 0 degrees for 3 seconds
+  servo.setGoalPosition(0, 3000);
+  delay(3000);
+}

keywords.txt

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+#######################################
+# Syntax Coloring Map
+#######################################
+
+#######################################
+# Datatypes (KEYWORD1)
+#######################################
+
+OCServo	KEYWORD1
+
+#######################################
+# Methods and Functions (KEYWORD2)
+#######################################
+setKeyId	KEYWORD2
+ping	KEYWORD2
+ocsRead	KEYWORD2
+ocsWrite	KEYWORD2
+setID	KEYWORD2
+setBaudRate	KEYWORD2
+setMaxTorque	KEYWORD2
+setMode	KEYWORD2
+setGoalAngle	KEYWORD2
+setGoalPosition	KEYWORD2
+setOperationTime	KEYWORD2
+setResponseDelay	KEYWORD2
+setResponseLevel	KEYWORD2
+setMinAngle	KEYWORD2
+setMaxAngle	KEYWORD2
+setMaxVoltage	KEYWORD2
+setMinVoltage	KEYWORD2
+setOperationSpeed	KEYWORD2
+getID	KEYWORD2
+getBaudRate	KEYWORD2
+getMaxTorque	KEYWORD2
+getMode	KEYWORD2
+getGoalAngle	KEYWORD2
+getGoalPosition	KEYWORD2
+getOperationTime	KEYWORD2
+getResponseDelay	KEYWORD2
+getResponseLevel	KEYWORD2
+getMinAngle	KEYWORD2
+getMaxAngle	KEYWORD2
+getMaxVoltage	KEYWORD2
+getMinVoltage	KEYWORD2
+getOperationSpeed	KEYWORD2
+reachedGoal	KEYWORD2
+begin	KEYWORD2
+printResponse	KEYWORD2
+
+######################################
+# Constants (LITERAL1)
+#######################################
+OCSResponse	LITERAL1

library.properties

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+name=OCServo
+version=1.0.1
+author=JarikDem-Bot
+maintainer=JarikDem-Bot
+sentence=Allows user to control ROBS series servos (OCServo manufacturer).
+paragraph=Allows user to control ROBS series servos by OCServo manufacturer.
+category=Device Control
+url=https://github.com/JarikDem-Bot/OCServo
+architectures=*