Protocol¶

INPUT:

MOVE <motor [LEFT|RIGHT|BOTH] default:BOTH> <direction [FORWARD|BACKWARD]> <unsigned int amount> <unit [MM|CM|M|STEPS] defaults:STEPS>  

description:

Moves the selected motor in the desired direction by a desired amount.

example:

MOVE LEFT FORWARD 100
                Moves the left motor for 100 steps.
            MOVE RIGHT FORWARD 15 CM
                Moves the right motor for 15 cm.
            MOVE BACKWARD 1 M
                Moves both motors 1 m backward.

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SET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <acceleration mode [CONSTANT|LINEAR] default:LINEAR>

description:

Sets the acceleration method of the selected motor.

example:

SET ACCELERATION_MODE LINEAR

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SET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <motor mode [INTERLEAVE|MICROSTEP|SINGLE|DOUBLE] default:double>

description:

Sets the motor mode of the selected motor.

SET MOTOR_MODE INTERLEAVE

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SET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int (capped with motor constraints)>

description:

Sets the max motor speed of the selected motor.

example:

SET MAX_SPEED BOTH 40

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SET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int>

description:

Sets the acceleration speed of the selected motor.

example:

SET ACC_SPEED RIGHT 10

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GET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH>

description:

Returns the current acceleration mode.

example:

GET ACCELERATION_MODE BOTH

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GET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH>

description:

Returns the current motor mode.

example:

GET MOTOR_MODE

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GET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>

description:

Returns the current max motor speed.

example:

GET MAX_SPEED BOTH

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GET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>

description:

Returns the current acceleration speed.

example:

GET ACC_SPEED

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GET CONTROLLER_MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>

description:

Returns the max controller speed

example:

GET CONTROLLER_MAX_SPEED RIGHT

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RELEASE <motor [LEFT|RIGHT|BOTH] default:BOTH>

description:

Releases the motor coils.

example:

RELEASE RIGHT

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CLEAR <motor [LEFT|RIGHT|BOTH] default:BOTH>

description:

Clears selected motors order queue. The currently executing order is not affected.

example:

CLEAR

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STOP <motor [LEFT|RIGHT|BOTH] default:BOTH>

description:

Immediately stops the selected motors and clears their order queue.

example:

STOP LEFT

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