Protocol » Zgodovina » Verzija 7
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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