Protocol » Zgodovina » Verzija 5
Verzija 4 (Aleksandar Todorovic, 03.03.2013 19:13) → Verzija 5/10 (Aleksandar Todorovic, 03.03.2013 19:14)
h1. Protocol
h2. MOVE
<pre>
MOVE <motor [LEFT|RIGHT|BOTH] default:BOTH> <direction [FORWARD|BACKWARD]> <unsigned int amount> <unit [MM|CM|M|STEPS] defaults:STEPS>
</pre>
h3. description:
Moves the selected motor in the desired direction by a desired amount.
h3 .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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h2. 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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######################################################################################################################################
######################################################################################################################################
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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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######################################################################################################################################
######################################################################################################################################
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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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h2. MOVE
<pre>
MOVE <motor [LEFT|RIGHT|BOTH] default:BOTH> <direction [FORWARD|BACKWARD]> <unsigned int amount> <unit [MM|CM|M|STEPS] defaults:STEPS>
</pre>
h3. description:
Moves the selected motor in the desired direction by a desired amount.
h3 .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.
--------------------------------------------------------------------------------------------------------------------------------------
h2. 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
--------------------------------------------------------------------------------------------------------------------------------------
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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######################################################################################################################################
######################################################################################################################################
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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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