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## http://www.ros.org/wiki/WritingTutorials
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## descriptive title for the tutorial
## title = Add RC Servo
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## description = How to Add servo to ric Board
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## next =How to Add Battery to ric board
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=== Please run RiC Configurator ===
{{attachment:gui.png|GUI|align="center"}}

=== Fields ===
 1. Publish Hz: To determine the servo publish message rate per second
 1. Name: The ID name
 1. Initial position: If the user wishes move to a specific position at the start. NOTE: The Initial position is in radius measures.
 1. Minimum and Maximum: The maximum and minimum positions that the servo can move to. NOTE: also in radians.
 1. A and B parameters: Those parameters convert the incoming radians command to a 0-180 servo command range. the formula is : servo_command A + (B*radians_command)
 1. Port: The port which the servo connected on.
 1. Enable initial position: Is to enable the servo to go to the initial position which the user want.

{{attachment:params.png|GUI|align="center"}}

=== Service: ===
<Servo Name> - The same name that was entered in the Servo name field in the ric configurator.

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