Protocol » Zgodovina » Verzija 6
Aleksandar Todorovic, 03.03.2013 19:20
| 1 | 1 | Aleksandar Todorovic | h1. Protocol |
|---|---|---|---|
| 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 | 3 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 23 | 1 | Aleksandar Todorovic | |
| 24 | 6 | Aleksandar Todorovic | h2. SET ACCELERATION_MODE |
| 25 | 1 | Aleksandar Todorovic | |
| 26 | 6 | Aleksandar Todorovic | SET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <acceleration mode [CONSTANT|LINEAR] default:LINEAR> |
| 27 | 1 | Aleksandar Todorovic | |
| 28 | 6 | Aleksandar Todorovic | h3. Description: |
| 29 | 6 | Aleksandar Todorovic | |
| 30 | 3 | Aleksandar Todorovic | Sets the acceleration method of the selected motor. |
| 31 | 1 | Aleksandar Todorovic | |
| 32 | 6 | Aleksandar Todorovic | h3. Example: |
| 33 | 1 | Aleksandar Todorovic | |
| 34 | 1 | Aleksandar Todorovic | SET ACCELERATION_MODE LINEAR |
| 35 | 3 | Aleksandar Todorovic | |
| 36 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 37 | 1 | Aleksandar Todorovic | |
| 38 | 6 | Aleksandar Todorovic | h2. SET MOTOR_MODE |
| 39 | 6 | Aleksandar Todorovic | |
| 40 | 1 | Aleksandar Todorovic | SET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <motor mode [INTERLEAVE|MICROSTEP|SINGLE|DOUBLE] default:double> |
| 41 | 1 | Aleksandar Todorovic | |
| 42 | 6 | Aleksandar Todorovic | h3. Description: |
| 43 | 3 | Aleksandar Todorovic | |
| 44 | 1 | Aleksandar Todorovic | Sets the motor mode of the selected motor. |
| 45 | 1 | Aleksandar Todorovic | |
| 46 | 6 | Aleksandar Todorovic | h3. Example |
| 47 | 6 | Aleksandar Todorovic | |
| 48 | 3 | Aleksandar Todorovic | SET MOTOR_MODE INTERLEAVE |
| 49 | 1 | Aleksandar Todorovic | |
| 50 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 51 | 3 | Aleksandar Todorovic | |
| 52 | 6 | Aleksandar Todorovic | h2. SET MAX_SPEED |
| 53 | 6 | Aleksandar Todorovic | |
| 54 | 1 | Aleksandar Todorovic | SET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int (capped with motor constraints)> |
| 55 | 1 | Aleksandar Todorovic | |
| 56 | 6 | Aleksandar Todorovic | h3. Description: |
| 57 | 1 | Aleksandar Todorovic | |
| 58 | 1 | Aleksandar Todorovic | Sets the max motor speed of the selected motor. |
| 59 | 1 | Aleksandar Todorovic | |
| 60 | 6 | Aleksandar Todorovic | h3. Example: |
| 61 | 1 | Aleksandar Todorovic | |
| 62 | 1 | Aleksandar Todorovic | SET MAX_SPEED BOTH 40 |
| 63 | 3 | Aleksandar Todorovic | |
| 64 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 65 | 3 | Aleksandar Todorovic | |
| 66 | 6 | Aleksandar Todorovic | h2. SET ACC_SPEED |
| 67 | 6 | Aleksandar Todorovic | |
| 68 | 3 | Aleksandar Todorovic | SET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int> |
| 69 | 1 | Aleksandar Todorovic | |
| 70 | 6 | Aleksandar Todorovic | h2. Description: |
| 71 | 1 | Aleksandar Todorovic | |
| 72 | 3 | Aleksandar Todorovic | Sets the acceleration speed of the selected motor. |
| 73 | 1 | Aleksandar Todorovic | |
| 74 | 6 | Aleksandar Todorovic | h2. Example: |
| 75 | 1 | Aleksandar Todorovic | |
| 76 | 3 | Aleksandar Todorovic | SET ACC_SPEED RIGHT 10 |
| 77 | 1 | Aleksandar Todorovic | |
| 78 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 79 | 3 | Aleksandar Todorovic | ###################################################################################################################################### |
| 80 | 3 | Aleksandar Todorovic | ###################################################################################################################################### |
| 81 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 82 | 3 | Aleksandar Todorovic | |
| 83 | 6 | Aleksandar Todorovic | h2. GET ACCELERATION_MODE |
| 84 | 6 | Aleksandar Todorovic | |
| 85 | 6 | Aleksandar Todorovic | <pre> |
| 86 | 3 | Aleksandar Todorovic | GET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
| 87 | 6 | Aleksandar Todorovic | </pre> |
| 88 | 1 | Aleksandar Todorovic | |
| 89 | 6 | Aleksandar Todorovic | h3. Description: |
| 90 | 1 | Aleksandar Todorovic | |
| 91 | 1 | Aleksandar Todorovic | Returns the current acceleration mode. |
| 92 | 3 | Aleksandar Todorovic | |
| 93 | 6 | Aleksandar Todorovic | h3. Example: |
| 94 | 1 | Aleksandar Todorovic | |
| 95 | 1 | Aleksandar Todorovic | GET ACCELERATION_MODE BOTH |
| 96 | 3 | Aleksandar Todorovic | |
| 97 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 98 | 1 | Aleksandar Todorovic | |
| 99 | 6 | Aleksandar Todorovic | h2. GET MOTOR_MODE |
| 100 | 6 | Aleksandar Todorovic | |
| 101 | 3 | Aleksandar Todorovic | GET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
| 102 | 1 | Aleksandar Todorovic | |
| 103 | 6 | Aleksandar Todorovic | h3. Description: |
| 104 | 3 | Aleksandar Todorovic | |
| 105 | 1 | Aleksandar Todorovic | Returns the current motor mode. |
| 106 | 3 | Aleksandar Todorovic | |
| 107 | 6 | Aleksandar Todorovic | h3. Example: |
| 108 | 1 | Aleksandar Todorovic | |
| 109 | 3 | Aleksandar Todorovic | GET MOTOR_MODE |
| 110 | 1 | Aleksandar Todorovic | |
| 111 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 112 | 1 | Aleksandar Todorovic | |
| 113 | 6 | Aleksandar Todorovic | h2. GET MAX_SPEED |
| 114 | 6 | Aleksandar Todorovic | |
| 115 | 1 | Aleksandar Todorovic | GET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> |
| 116 | 3 | Aleksandar Todorovic | |
| 117 | 6 | Aleksandar Todorovic | h3. Description: |
| 118 | 3 | Aleksandar Todorovic | |
| 119 | 1 | Aleksandar Todorovic | Returns the current max motor speed. |
| 120 | 3 | Aleksandar Todorovic | |
| 121 | 6 | Aleksandar Todorovic | h3. Example: |
| 122 | 1 | Aleksandar Todorovic | |
| 123 | 1 | Aleksandar Todorovic | GET MAX_SPEED BOTH |
| 124 | 1 | Aleksandar Todorovic | |
| 125 | 3 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 126 | 1 | Aleksandar Todorovic | |
| 127 | 6 | Aleksandar Todorovic | h2. GET ACC_SPEED |
| 128 | 6 | Aleksandar Todorovic | |
| 129 | 1 | Aleksandar Todorovic | GET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> |
| 130 | 3 | Aleksandar Todorovic | |
| 131 | 6 | Aleksandar Todorovic | h3. Description: |
| 132 | 1 | Aleksandar Todorovic | |
| 133 | 3 | Aleksandar Todorovic | Returns the current acceleration speed. |
| 134 | 1 | Aleksandar Todorovic | |
| 135 | 6 | Aleksandar Todorovic | h3. Example: |
| 136 | 1 | Aleksandar Todorovic | |
| 137 | 3 | Aleksandar Todorovic | GET ACC_SPEED |
| 138 | 1 | Aleksandar Todorovic | |
| 139 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 140 | 3 | Aleksandar Todorovic | |
| 141 | 6 | Aleksandar Todorovic | h2. GET CONTROLLER_MAX_SPEED |
| 142 | 6 | Aleksandar Todorovic | |
| 143 | 1 | Aleksandar Todorovic | GET CONTROLLER_MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> |
| 144 | 1 | Aleksandar Todorovic | |
| 145 | 6 | Aleksandar Todorovic | h3. escription: |
| 146 | 1 | Aleksandar Todorovic | |
| 147 | 3 | Aleksandar Todorovic | Returns the max controller speed |
| 148 | 1 | Aleksandar Todorovic | |
| 149 | 6 | Aleksandar Todorovic | h3. Example: |
| 150 | 1 | Aleksandar Todorovic | |
| 151 | 1 | Aleksandar Todorovic | GET CONTROLLER_MAX_SPEED RIGHT |
| 152 | 1 | Aleksandar Todorovic | |
| 153 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 154 | 3 | Aleksandar Todorovic | ###################################################################################################################################### |
| 155 | 3 | Aleksandar Todorovic | ###################################################################################################################################### |
| 156 | 1 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 157 | 3 | Aleksandar Todorovic | |
| 158 | 6 | Aleksandar Todorovic | h2. RELEASE |
| 159 | 6 | Aleksandar Todorovic | |
| 160 | 3 | Aleksandar Todorovic | RELEASE <motor [LEFT|RIGHT|BOTH] default:BOTH> |
| 161 | 1 | Aleksandar Todorovic | |
| 162 | 6 | Aleksandar Todorovic | h3. Description: |
| 163 | 1 | Aleksandar Todorovic | |
| 164 | 3 | Aleksandar Todorovic | Releases the motor coils. |
| 165 | 1 | Aleksandar Todorovic | |
| 166 | 6 | Aleksandar Todorovic | h3. Example: |
| 167 | 3 | Aleksandar Todorovic | |
| 168 | 1 | Aleksandar Todorovic | RELEASE RIGHT |
| 169 | 1 | Aleksandar Todorovic | |
| 170 | 3 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 171 | 1 | Aleksandar Todorovic | |
| 172 | 6 | Aleksandar Todorovic | h2. CLEAR |
| 173 | 6 | Aleksandar Todorovic | |
| 174 | 3 | Aleksandar Todorovic | CLEAR <motor [LEFT|RIGHT|BOTH] default:BOTH> |
| 175 | 1 | Aleksandar Todorovic | |
| 176 | 6 | Aleksandar Todorovic | h3. Description: |
| 177 | 1 | Aleksandar Todorovic | |
| 178 | 3 | Aleksandar Todorovic | Clears selected motors order queue. The currently executing order is not affected. |
| 179 | 1 | Aleksandar Todorovic | |
| 180 | 6 | Aleksandar Todorovic | h3. Example: |
| 181 | 1 | Aleksandar Todorovic | |
| 182 | 3 | Aleksandar Todorovic | CLEAR |
| 183 | 1 | Aleksandar Todorovic | |
| 184 | 3 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |
| 185 | 1 | Aleksandar Todorovic | |
| 186 | 6 | Aleksandar Todorovic | h2. STOP |
| 187 | 6 | Aleksandar Todorovic | |
| 188 | 3 | Aleksandar Todorovic | STOP <motor [LEFT|RIGHT|BOTH] default:BOTH> |
| 189 | 1 | Aleksandar Todorovic | |
| 190 | 6 | Aleksandar Todorovic | h3. Description: |
| 191 | 1 | Aleksandar Todorovic | |
| 192 | 3 | Aleksandar Todorovic | Immediately stops the selected motors and clears their order queue. |
| 193 | 1 | Aleksandar Todorovic | |
| 194 | 6 | Aleksandar Todorovic | h3. Example: |
| 195 | 1 | Aleksandar Todorovic | |
| 196 | 3 | Aleksandar Todorovic | STOP LEFT |
| 197 | 1 | Aleksandar Todorovic | |
| 198 | 3 | Aleksandar Todorovic | -------------------------------------------------------------------------------------------------------------------------------------- |