Protocol » Zgodovina » Verzija 1
Aleksandar Todorovic, 03.03.2013 19:09
1 | 1 | Aleksandar Todorovic | h1. Protocol |
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2 | 1 | Aleksandar Todorovic | |
3 | 1 | Aleksandar Todorovic | INPUT: |
4 | 1 | Aleksandar Todorovic | |
5 | 1 | Aleksandar Todorovic | MOVE <motor [LEFT|RIGHT|BOTH] default:BOTH> <direction [FORWARD|BACKWARD]> <unsigned int amount> <unit [MM|CM|M|STEPS] defaults:STEPS> |
6 | 1 | Aleksandar Todorovic | |
7 | 1 | Aleksandar Todorovic | description: |
8 | 1 | Aleksandar Todorovic | |
9 | 1 | Aleksandar Todorovic | Moves the selected motor in the desired direction by a desired amount. |
10 | 1 | Aleksandar Todorovic | |
11 | 1 | Aleksandar Todorovic | example: |
12 | 1 | Aleksandar Todorovic | |
13 | 1 | Aleksandar Todorovic | MOVE LEFT FORWARD 100 |
14 | 1 | Aleksandar Todorovic | Moves the left motor for 100 steps. |
15 | 1 | Aleksandar Todorovic | MOVE RIGHT FORWARD 15 CM |
16 | 1 | Aleksandar Todorovic | Moves the right motor for 15 cm. |
17 | 1 | Aleksandar Todorovic | MOVE BACKWARD 1 M |
18 | 1 | Aleksandar Todorovic | Moves both motors 1 m backward. |
19 | 1 | Aleksandar Todorovic | |
20 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
21 | 1 | Aleksandar Todorovic | |
22 | 1 | Aleksandar Todorovic | SET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <acceleration mode [CONSTANT|LINEAR] default:LINEAR> |
23 | 1 | Aleksandar Todorovic | |
24 | 1 | Aleksandar Todorovic | description: |
25 | 1 | Aleksandar Todorovic | |
26 | 1 | Aleksandar Todorovic | Sets the acceleration method of the selected motor. |
27 | 1 | Aleksandar Todorovic | |
28 | 1 | Aleksandar Todorovic | example: |
29 | 1 | Aleksandar Todorovic | |
30 | 1 | Aleksandar Todorovic | SET ACCELERATION_MODE LINEAR |
31 | 1 | Aleksandar Todorovic | |
32 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
33 | 1 | Aleksandar Todorovic | |
34 | 1 | Aleksandar Todorovic | SET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <motor mode [INTERLEAVE|MICROSTEP|SINGLE|DOUBLE] default:double> |
35 | 1 | Aleksandar Todorovic | |
36 | 1 | Aleksandar Todorovic | description: |
37 | 1 | Aleksandar Todorovic | |
38 | 1 | Aleksandar Todorovic | Sets the motor mode of the selected motor. |
39 | 1 | Aleksandar Todorovic | |
40 | 1 | Aleksandar Todorovic | SET MOTOR_MODE INTERLEAVE |
41 | 1 | Aleksandar Todorovic | |
42 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
43 | 1 | Aleksandar Todorovic | |
44 | 1 | Aleksandar Todorovic | SET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int (capped with motor constraints)> |
45 | 1 | Aleksandar Todorovic | |
46 | 1 | Aleksandar Todorovic | description: |
47 | 1 | Aleksandar Todorovic | |
48 | 1 | Aleksandar Todorovic | Sets the max motor speed of the selected motor. |
49 | 1 | Aleksandar Todorovic | |
50 | 1 | Aleksandar Todorovic | example: |
51 | 1 | Aleksandar Todorovic | |
52 | 1 | Aleksandar Todorovic | SET MAX_SPEED BOTH 40 |
53 | 1 | Aleksandar Todorovic | |
54 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
55 | 1 | Aleksandar Todorovic | |
56 | 1 | Aleksandar Todorovic | SET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int> |
57 | 1 | Aleksandar Todorovic | |
58 | 1 | Aleksandar Todorovic | description: |
59 | 1 | Aleksandar Todorovic | |
60 | 1 | Aleksandar Todorovic | Sets the acceleration speed of the selected motor. |
61 | 1 | Aleksandar Todorovic | |
62 | 1 | Aleksandar Todorovic | example: |
63 | 1 | Aleksandar Todorovic | |
64 | 1 | Aleksandar Todorovic | SET ACC_SPEED RIGHT 10 |
65 | 1 | Aleksandar Todorovic | |
66 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
67 | 1 | Aleksandar Todorovic | ###################################################################################################################################### |
68 | 1 | Aleksandar Todorovic | ###################################################################################################################################### |
69 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
70 | 1 | Aleksandar Todorovic | |
71 | 1 | Aleksandar Todorovic | GET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
72 | 1 | Aleksandar Todorovic | |
73 | 1 | Aleksandar Todorovic | description: |
74 | 1 | Aleksandar Todorovic | |
75 | 1 | Aleksandar Todorovic | Returns the current acceleration mode. |
76 | 1 | Aleksandar Todorovic | |
77 | 1 | Aleksandar Todorovic | example: |
78 | 1 | Aleksandar Todorovic | |
79 | 1 | Aleksandar Todorovic | GET ACCELERATION_MODE BOTH |
80 | 1 | Aleksandar Todorovic | |
81 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
82 | 1 | Aleksandar Todorovic | |
83 | 1 | Aleksandar Todorovic | GET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
84 | 1 | Aleksandar Todorovic | |
85 | 1 | Aleksandar Todorovic | description: |
86 | 1 | Aleksandar Todorovic | |
87 | 1 | Aleksandar Todorovic | Returns the current motor mode. |
88 | 1 | Aleksandar Todorovic | |
89 | 1 | Aleksandar Todorovic | example: |
90 | 1 | Aleksandar Todorovic | |
91 | 1 | Aleksandar Todorovic | GET MOTOR_MODE |
92 | 1 | Aleksandar Todorovic | |
93 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
94 | 1 | Aleksandar Todorovic | |
95 | 1 | Aleksandar Todorovic | GET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> |
96 | 1 | Aleksandar Todorovic | |
97 | 1 | Aleksandar Todorovic | description: |
98 | 1 | Aleksandar Todorovic | |
99 | 1 | Aleksandar Todorovic | Returns the current max motor speed. |
100 | 1 | Aleksandar Todorovic | |
101 | 1 | Aleksandar Todorovic | example: |
102 | 1 | Aleksandar Todorovic | |
103 | 1 | Aleksandar Todorovic | GET MAX_SPEED BOTH |
104 | 1 | Aleksandar Todorovic | |
105 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
106 | 1 | Aleksandar Todorovic | |
107 | 1 | Aleksandar Todorovic | GET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> |
108 | 1 | Aleksandar Todorovic | |
109 | 1 | Aleksandar Todorovic | description: |
110 | 1 | Aleksandar Todorovic | |
111 | 1 | Aleksandar Todorovic | Returns the current acceleration speed. |
112 | 1 | Aleksandar Todorovic | |
113 | 1 | Aleksandar Todorovic | example: |
114 | 1 | Aleksandar Todorovic | |
115 | 1 | Aleksandar Todorovic | GET ACC_SPEED |
116 | 1 | Aleksandar Todorovic | |
117 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
118 | 1 | Aleksandar Todorovic | |
119 | 1 | Aleksandar Todorovic | GET CONTROLLER_MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> |
120 | 1 | Aleksandar Todorovic | |
121 | 1 | Aleksandar Todorovic | description: |
122 | 1 | Aleksandar Todorovic | |
123 | 1 | Aleksandar Todorovic | Returns the max controller speed |
124 | 1 | Aleksandar Todorovic | |
125 | 1 | Aleksandar Todorovic | example: |
126 | 1 | Aleksandar Todorovic | |
127 | 1 | Aleksandar Todorovic | GET CONTROLLER_MAX_SPEED RIGHT |
128 | 1 | Aleksandar Todorovic | |
129 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
130 | 1 | Aleksandar Todorovic | ###################################################################################################################################### |
131 | 1 | Aleksandar Todorovic | ###################################################################################################################################### |
132 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
133 | 1 | Aleksandar Todorovic | |
134 | 1 | Aleksandar Todorovic | RELEASE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
135 | 1 | Aleksandar Todorovic | |
136 | 1 | Aleksandar Todorovic | description: |
137 | 1 | Aleksandar Todorovic | |
138 | 1 | Aleksandar Todorovic | Releases the motor coils. |
139 | 1 | Aleksandar Todorovic | |
140 | 1 | Aleksandar Todorovic | example: |
141 | 1 | Aleksandar Todorovic | |
142 | 1 | Aleksandar Todorovic | RELEASE RIGHT |
143 | 1 | Aleksandar Todorovic | |
144 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
145 | 1 | Aleksandar Todorovic | |
146 | 1 | Aleksandar Todorovic | CLEAR <motor [LEFT|RIGHT|BOTH] default:BOTH> |
147 | 1 | Aleksandar Todorovic | |
148 | 1 | Aleksandar Todorovic | description: |
149 | 1 | Aleksandar Todorovic | |
150 | 1 | Aleksandar Todorovic | Clears selected motors order queue. The currently executing order is not affected. |
151 | 1 | Aleksandar Todorovic | |
152 | 1 | Aleksandar Todorovic | example: |
153 | 1 | Aleksandar Todorovic | |
154 | 1 | Aleksandar Todorovic | CLEAR |
155 | 1 | Aleksandar Todorovic | |
156 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
157 | 1 | Aleksandar Todorovic | |
158 | 1 | Aleksandar Todorovic | STOP <motor [LEFT|RIGHT|BOTH] default:BOTH> |
159 | 1 | Aleksandar Todorovic | |
160 | 1 | Aleksandar Todorovic | description: |
161 | 1 | Aleksandar Todorovic | |
162 | 1 | Aleksandar Todorovic | Immediately stops the selected motors and clears their order queue. |
163 | 1 | Aleksandar Todorovic | |
164 | 1 | Aleksandar Todorovic | example: |
165 | 1 | Aleksandar Todorovic | |
166 | 1 | Aleksandar Todorovic | STOP LEFT |
167 | 1 | Aleksandar Todorovic | |
168 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |