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Protocol » Zgodovina » Verzija 7

« Prejšnji - Verzija 7/10 (diff) - Naslednji » - Trenutna verzija
Aleksandar Todorovic, 03.03.2013 19:21


Protocol

MOVE

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

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

SET MOTOR_MODE

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.

Example

SET MOTOR_MODE INTERLEAVE

SET MAX_SPEED

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

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

GET ACCELERATION_MODE

GET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH>

Description:

Returns the current acceleration mode.

Example:

GET ACCELERATION_MODE BOTH

GET MOTOR_MODE

GET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH>

Description:

Returns the current motor mode.

Example:

GET MOTOR_MODE

GET MAX_SPEED

GET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>

Description:

Returns the current max motor speed.

Example:

GET MAX_SPEED BOTH

GET ACC_SPEED

GET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>

Description:

Returns the current acceleration speed.

Example:

GET ACC_SPEED

GET CONTROLLER_MAX_SPEED

GET CONTROLLER_MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>

escription:

Returns the max controller speed

Example:

GET CONTROLLER_MAX_SPEED RIGHT

RELEASE

RELEASE <motor [LEFT|RIGHT|BOTH] default:BOTH>

Description:

Releases the motor coils.

Example:

RELEASE RIGHT

CLEAR

CLEAR <motor [LEFT|RIGHT|BOTH] default:BOTH>

Description:

Clears selected motors order queue. The currently executing order is not affected.

Example:

CLEAR

STOP

STOP <motor [LEFT|RIGHT|BOTH] default:BOTH>

Description:

Immediately stops the selected motors and clears their order queue.

Example:

STOP LEFT