The Pololu Maestro is a very compact solution for
controlling up to six radio control (RC) servos from a computer or microcontroller. The Pololu Maestro
RoboRealm module provides a way to interface the visual processing of RoboRealm into servo movements
using the Pololu Maestro board.
While the Pololu Maestro is compatible with the MiniSSC II protocol the RoboRealm module provides
access to the more advanced features available in the Pololu specific protocol such as servo speed, resolution,
neutral point, increased range and access to multiple servo banks. The Maestro module within Roborealm uses the
USB protocol to avoid the confusion of which COM port to select as well as to expose the more advanced capabilities
of the board.
Note that the interface supports up to 24 servos to accommodate both the Micro and Mini Maestros
line of products. Thus, if using the Micro Maestro servos 7-24 will simply not work as the board only
supports up to 6 servos.
1. Enable - To enable/disable using a particular servo you can click on the checkbox next to each channel. A disabled
servo will not be sent any signals.
2. Servo/Input/Output text - indicates the mode that the particular channel is set to. Input mode is read only and will disable all controls
except for variable selection which will then hold the input value. Output and Servo will produce those values on the appropriate pins.
To change the mode you will have to use the Pololu Maestro Control Center application. Be sure to press Apply All in order to send the
changes to the Maestro. Note that you will have to exit RR in order to run that application and vice versa.
3. Variables - Select the appropriate variables that contain or will contain the position value that will be sent to the
servo board. This is used to automatically change the servo values based on your VBScript (using the SetVariable function) or Plugin based program.
4. Current Value - To manually set the servo position type in the appropriate number (500-2500, 1500 is
the default neutral) into the text area or use the slider to adjust the value. The servo position
will be updated as appropriate. Note that the current limits of 500 and 2500 will most likely be beyond the capabilities
of your servos so you may want to tighten the range.
5. Sliders - You should be able to move your servos by dragging the sliders to the right or left or by specifying a
number within the current value text box. If the servos do not move check your USB cable and/or board power connections.
6. Min/Max Limits - You can also use the min/max limits to ensure that even if the variables specify large or low values (due to programming errors)
that the board does not actually attempt to move the servos above or below the specified limits. This can be used
as an additional precaution in case your servos cannot physically move beyond certain limits.
7. Speed - You can set the servo speed using the provided text box. Using 0 will move the servo as quickly as possible. Setting
it to 1 will move the servo very slowly to the destination position. Using 127 will move it quite quickly to the
8. Acceleration - You can set the servo acceleration using the provided text box. Using 0 will accelerate the servo as quickly as possible. Setting
it to 1 will accelerate the servo very slowly to the top speed. Using 127 will accelerate it quite quickly to the
9. Neutral - If your base servo position is different from 1500 you can change the neutral position of the servo by adjusting the
10. STOP - Press STOP if you need to quickly disable all the servos and return them to the middle or neutral (128) position.
POLOLU_MAESTRO_MOVING - equals 1 when any servo is moving, 0 when all have stopped (or failed to
reach their target)
X_MOVING - equals 1 when the servo associated with the variable X is moving. For example
the presence of the variable pan_MOVING would mean that the servo associated with the
variable 'pan' is still moving towards whatever the value within the variable 'pan' is.
For more information
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