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Protocol » Zgodovina » Verzija 2

« Prejšnji - Verzija 2/10 (diff) - Naslednji » - Trenutna verzija
Aleksandar Todorovic, 03.03.2013 19:10

Protocol

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.

SET ACCELERATION_MODE &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt; &lt;acceleration mode [CONSTANT|LINEAR] default:LINEAR&gt;
description:
Sets the acceleration method of the selected motor.
example:
SET ACCELERATION_MODE LINEAR
SET MOTOR_MODE &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt; &lt;motor mode [INTERLEAVE|MICROSTEP|SINGLE|DOUBLE] default:double&gt;
description:
Sets the motor mode of the selected motor.
SET MOTOR_MODE INTERLEAVE
SET MAX_SPEED &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt; &lt;unsigned int (capped with motor constraints)&gt;
description:
Sets the max motor speed of the selected motor.
example:
SET MAX_SPEED BOTH 40
SET ACC_SPEED &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt; &lt;unsigned int&gt;
description:
Sets the acceleration speed of the selected motor.
example:
SET ACC_SPEED RIGHT 10
###################################################################################################################################### ######################################################################################################################################
-------------------------------------------------------------------------------------------------------------------------------------- 
GET ACCELERATION_MODE &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt;
description:
Returns the current acceleration mode.
example:
GET ACCELERATION_MODE BOTH
GET MOTOR_MODE &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt;
description:
Returns the current motor mode.
example:
GET MOTOR_MODE
GET MAX_SPEED &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt;
description:
Returns the current max motor speed.
example:
GET MAX_SPEED BOTH
GET ACC_SPEED &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt;
description:
Returns the current acceleration speed.
example:
GET ACC_SPEED
GET CONTROLLER_MAX_SPEED &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt;
description:
Returns the max controller speed
example:
GET CONTROLLER_MAX_SPEED RIGHT
###################################################################################################################################### ######################################################################################################################################
-------------------------------------------------------------------------------------------------------------------------------------- 
RELEASE &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt;
description:
Releases the motor coils.
example:
RELEASE RIGHT
CLEAR &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt;
description:
Clears selected motors order queue. The currently executing order is not affected.
example:
CLEAR
STOP &lt;motor [LEFT|RIGHT|BOTH] default:BOTH&gt;
description:
Immediately stops the selected motors and clears their order queue.
example:
STOP LEFT