Protocol » Zgodovina » Verzija 10
Aleksandar Todorovic, 06.03.2013 19:31
1 | 1 | Aleksandar Todorovic | h1. Protocol |
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2 | 1 | Aleksandar Todorovic | |
3 | 5 | Aleksandar Todorovic | h2. MOVE |
4 | 5 | Aleksandar Todorovic | |
5 | 5 | Aleksandar Todorovic | <pre> |
6 | 5 | Aleksandar Todorovic | MOVE <motor [LEFT|RIGHT|BOTH] default:BOTH> <direction [FORWARD|BACKWARD]> <unsigned int amount> <unit [MM|CM|M|STEPS] defaults:STEPS> |
7 | 5 | Aleksandar Todorovic | </pre> |
8 | 1 | Aleksandar Todorovic | |
9 | 6 | Aleksandar Todorovic | h3. Description: |
10 | 1 | Aleksandar Todorovic | |
11 | 2 | Aleksandar Todorovic | Moves the selected motor in the desired direction by a desired amount. |
12 | 1 | Aleksandar Todorovic | |
13 | 6 | Aleksandar Todorovic | h3. Example: |
14 | 1 | Aleksandar Todorovic | |
15 | 2 | Aleksandar Todorovic | MOVE LEFT FORWARD 100 |
16 | 2 | Aleksandar Todorovic | Moves the left motor for 100 steps. |
17 | 2 | Aleksandar Todorovic | MOVE RIGHT FORWARD 15 CM |
18 | 2 | Aleksandar Todorovic | Moves the right motor for 15 cm. |
19 | 2 | Aleksandar Todorovic | MOVE BACKWARD 1 M |
20 | 2 | Aleksandar Todorovic | Moves both motors 1 m backward. |
21 | 1 | Aleksandar Todorovic | |
22 | 8 | Aleksandar Todorovic | |
23 | 8 | Aleksandar Todorovic | |
24 | 8 | Aleksandar Todorovic | |
25 | 8 | Aleksandar Todorovic | |
26 | 6 | Aleksandar Todorovic | h2. SET ACCELERATION_MODE |
27 | 1 | Aleksandar Todorovic | |
28 | 9 | Aleksandar Todorovic | <pre> |
29 | 6 | Aleksandar Todorovic | SET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <acceleration mode [CONSTANT|LINEAR] default:LINEAR> |
30 | 9 | Aleksandar Todorovic | </pre> |
31 | 1 | Aleksandar Todorovic | |
32 | 6 | Aleksandar Todorovic | h3. Description: |
33 | 6 | Aleksandar Todorovic | |
34 | 3 | Aleksandar Todorovic | Sets the acceleration method of the selected motor. |
35 | 1 | Aleksandar Todorovic | |
36 | 6 | Aleksandar Todorovic | h3. Example: |
37 | 1 | Aleksandar Todorovic | |
38 | 1 | Aleksandar Todorovic | SET ACCELERATION_MODE LINEAR |
39 | 3 | Aleksandar Todorovic | |
40 | 8 | Aleksandar Todorovic | |
41 | 8 | Aleksandar Todorovic | |
42 | 8 | Aleksandar Todorovic | |
43 | 8 | Aleksandar Todorovic | |
44 | 6 | Aleksandar Todorovic | h2. SET MOTOR_MODE |
45 | 6 | Aleksandar Todorovic | |
46 | 9 | Aleksandar Todorovic | <pre> |
47 | 1 | Aleksandar Todorovic | SET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <motor mode [INTERLEAVE|MICROSTEP|SINGLE|DOUBLE] default:double> |
48 | 9 | Aleksandar Todorovic | </pre> |
49 | 1 | Aleksandar Todorovic | |
50 | 6 | Aleksandar Todorovic | h3. Description: |
51 | 3 | Aleksandar Todorovic | |
52 | 1 | Aleksandar Todorovic | Sets the motor mode of the selected motor. |
53 | 1 | Aleksandar Todorovic | |
54 | 6 | Aleksandar Todorovic | h3. Example |
55 | 6 | Aleksandar Todorovic | |
56 | 3 | Aleksandar Todorovic | SET MOTOR_MODE INTERLEAVE |
57 | 1 | Aleksandar Todorovic | |
58 | 8 | Aleksandar Todorovic | |
59 | 8 | Aleksandar Todorovic | |
60 | 8 | Aleksandar Todorovic | |
61 | 8 | Aleksandar Todorovic | |
62 | 6 | Aleksandar Todorovic | h2. SET MAX_SPEED |
63 | 6 | Aleksandar Todorovic | |
64 | 9 | Aleksandar Todorovic | <pre> |
65 | 1 | Aleksandar Todorovic | SET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int (capped with motor constraints)> |
66 | 9 | Aleksandar Todorovic | </pre> |
67 | 1 | Aleksandar Todorovic | |
68 | 1 | Aleksandar Todorovic | h3. Description: |
69 | 1 | Aleksandar Todorovic | |
70 | 1 | Aleksandar Todorovic | Sets the max motor speed of the selected motor. |
71 | 1 | Aleksandar Todorovic | |
72 | 1 | Aleksandar Todorovic | h3. Example: |
73 | 3 | Aleksandar Todorovic | |
74 | 6 | Aleksandar Todorovic | SET MAX_SPEED BOTH 40 |
75 | 6 | Aleksandar Todorovic | |
76 | 8 | Aleksandar Todorovic | |
77 | 8 | Aleksandar Todorovic | |
78 | 8 | Aleksandar Todorovic | |
79 | 8 | Aleksandar Todorovic | |
80 | 3 | Aleksandar Todorovic | h2. SET ACC_SPEED |
81 | 1 | Aleksandar Todorovic | |
82 | 9 | Aleksandar Todorovic | <pre> |
83 | 6 | Aleksandar Todorovic | SET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int> |
84 | 9 | Aleksandar Todorovic | </pre> |
85 | 1 | Aleksandar Todorovic | |
86 | 8 | Aleksandar Todorovic | h3. Description: |
87 | 3 | Aleksandar Todorovic | |
88 | 1 | Aleksandar Todorovic | Sets the acceleration speed of the selected motor. |
89 | 1 | Aleksandar Todorovic | |
90 | 8 | Aleksandar Todorovic | h3. Example: |
91 | 1 | Aleksandar Todorovic | |
92 | 1 | Aleksandar Todorovic | SET ACC_SPEED RIGHT 10 |
93 | 1 | Aleksandar Todorovic | |
94 | 8 | Aleksandar Todorovic | |
95 | 8 | Aleksandar Todorovic | |
96 | 8 | Aleksandar Todorovic | |
97 | 8 | Aleksandar Todorovic | |
98 | 6 | Aleksandar Todorovic | h2. GET ACCELERATION_MODE |
99 | 6 | Aleksandar Todorovic | |
100 | 6 | Aleksandar Todorovic | <pre> |
101 | 3 | Aleksandar Todorovic | GET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
102 | 6 | Aleksandar Todorovic | </pre> |
103 | 1 | Aleksandar Todorovic | |
104 | 6 | Aleksandar Todorovic | h3. Description: |
105 | 1 | Aleksandar Todorovic | |
106 | 1 | Aleksandar Todorovic | Returns the current acceleration mode. |
107 | 3 | Aleksandar Todorovic | |
108 | 6 | Aleksandar Todorovic | h3. Example: |
109 | 1 | Aleksandar Todorovic | |
110 | 1 | Aleksandar Todorovic | GET ACCELERATION_MODE BOTH |
111 | 1 | Aleksandar Todorovic | |
112 | 8 | Aleksandar Todorovic | |
113 | 8 | Aleksandar Todorovic | |
114 | 8 | Aleksandar Todorovic | |
115 | 8 | Aleksandar Todorovic | |
116 | 6 | Aleksandar Todorovic | h2. GET MOTOR_MODE |
117 | 6 | Aleksandar Todorovic | |
118 | 9 | Aleksandar Todorovic | <pre> |
119 | 3 | Aleksandar Todorovic | GET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
120 | 9 | Aleksandar Todorovic | </pre> |
121 | 6 | Aleksandar Todorovic | |
122 | 3 | Aleksandar Todorovic | h3. Description: |
123 | 1 | Aleksandar Todorovic | |
124 | 6 | Aleksandar Todorovic | Returns the current motor mode. |
125 | 1 | Aleksandar Todorovic | |
126 | 3 | Aleksandar Todorovic | h3. Example: |
127 | 1 | Aleksandar Todorovic | |
128 | 1 | Aleksandar Todorovic | GET MOTOR_MODE |
129 | 1 | Aleksandar Todorovic | |
130 | 8 | Aleksandar Todorovic | |
131 | 8 | Aleksandar Todorovic | |
132 | 1 | Aleksandar Todorovic | |
133 | 9 | Aleksandar Todorovic | h2. GET MAX_SPEED |
134 | 8 | Aleksandar Todorovic | |
135 | 9 | Aleksandar Todorovic | <pre> |
136 | 8 | Aleksandar Todorovic | GET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> |
137 | 9 | Aleksandar Todorovic | </pre> |
138 | 3 | Aleksandar Todorovic | |
139 | 6 | Aleksandar Todorovic | h3. Description: |
140 | 3 | Aleksandar Todorovic | |
141 | 1 | Aleksandar Todorovic | Returns the current max motor speed. |
142 | 3 | Aleksandar Todorovic | |
143 | 6 | Aleksandar Todorovic | h3. Example: |
144 | 1 | Aleksandar Todorovic | |
145 | 1 | Aleksandar Todorovic | GET MAX_SPEED BOTH |
146 | 1 | Aleksandar Todorovic | |
147 | 1 | Aleksandar Todorovic | h2. GET ACC_SPEED |
148 | 1 | Aleksandar Todorovic | |
149 | 8 | Aleksandar Todorovic | |
150 | 8 | Aleksandar Todorovic | |
151 | 8 | Aleksandar Todorovic | |
152 | 8 | Aleksandar Todorovic | |
153 | 1 | Aleksandar Todorovic | GET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> |
154 | 3 | Aleksandar Todorovic | |
155 | 6 | Aleksandar Todorovic | h3. Description: |
156 | 1 | Aleksandar Todorovic | |
157 | 3 | Aleksandar Todorovic | Returns the current acceleration speed. |
158 | 1 | Aleksandar Todorovic | |
159 | 6 | Aleksandar Todorovic | h3. Example: |
160 | 1 | Aleksandar Todorovic | |
161 | 1 | Aleksandar Todorovic | GET ACC_SPEED |
162 | 1 | Aleksandar Todorovic | |
163 | 1 | Aleksandar Todorovic | h2. RELEASE |
164 | 6 | Aleksandar Todorovic | |
165 | 9 | Aleksandar Todorovic | <pre> |
166 | 3 | Aleksandar Todorovic | RELEASE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
167 | 9 | Aleksandar Todorovic | </pre> |
168 | 6 | Aleksandar Todorovic | |
169 | 1 | Aleksandar Todorovic | h3. Description: |
170 | 3 | Aleksandar Todorovic | |
171 | 1 | Aleksandar Todorovic | Releases the motor coils. |
172 | 6 | Aleksandar Todorovic | |
173 | 3 | Aleksandar Todorovic | h3. Example: |
174 | 1 | Aleksandar Todorovic | |
175 | 1 | Aleksandar Todorovic | RELEASE RIGHT |
176 | 1 | Aleksandar Todorovic | |
177 | 1 | Aleksandar Todorovic | |
178 | 1 | Aleksandar Todorovic | |
179 | 8 | Aleksandar Todorovic | |
180 | 1 | Aleksandar Todorovic | |
181 | 9 | Aleksandar Todorovic | h2. CLEAR |
182 | 1 | Aleksandar Todorovic | |
183 | 9 | Aleksandar Todorovic | <pre> |
184 | 8 | Aleksandar Todorovic | CLEAR <motor [LEFT|RIGHT|BOTH] default:BOTH> |
185 | 9 | Aleksandar Todorovic | </pre> |
186 | 1 | Aleksandar Todorovic | |
187 | 6 | Aleksandar Todorovic | h3. Description: |
188 | 1 | Aleksandar Todorovic | |
189 | 3 | Aleksandar Todorovic | Clears selected motors order queue. The currently executing order is not affected. |
190 | 1 | Aleksandar Todorovic | |
191 | 6 | Aleksandar Todorovic | h3. Example: |
192 | 1 | Aleksandar Todorovic | |
193 | 1 | Aleksandar Todorovic | CLEAR |
194 | 8 | Aleksandar Todorovic | |
195 | 8 | Aleksandar Todorovic | |
196 | 8 | Aleksandar Todorovic | |
197 | 1 | Aleksandar Todorovic | |
198 | 1 | Aleksandar Todorovic | h2. STOP |
199 | 1 | Aleksandar Todorovic | |
200 | 9 | Aleksandar Todorovic | <pre> |
201 | 6 | Aleksandar Todorovic | STOP <motor [LEFT|RIGHT|BOTH] default:BOTH> |
202 | 9 | Aleksandar Todorovic | </pre> |
203 | 1 | Aleksandar Todorovic | |
204 | 6 | Aleksandar Todorovic | h3. Description: |
205 | 1 | Aleksandar Todorovic | |
206 | 3 | Aleksandar Todorovic | Immediately stops the selected motors and clears their order queue. |
207 | 1 | Aleksandar Todorovic | |
208 | 6 | Aleksandar Todorovic | h3. Example: |
209 | 1 | Aleksandar Todorovic | |
210 | 3 | Aleksandar Todorovic | STOP LEFT |