Robot

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

SET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <acceleration mode [CONSTANT|LINEAR] default:LINEAR>

h3. Description:

Sets the acceleration method of the selected motor.

h3. Example:

SET ACCELERATION_MODE LINEAR

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h2. SET MOTOR_MODE

SET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <motor mode [INTERLEAVE|MICROSTEP|SINGLE|DOUBLE] default:double>

h3. Description:

Sets the motor mode of the selected motor.

h3. Example

SET MOTOR_MODE INTERLEAVE

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h2. SET MAX_SPEED

SET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int (capped with motor constraints)>

h3. Description:

Sets the max motor speed of the selected motor.

h3. Example:

SET MAX_SPEED BOTH 40

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h2. SET ACC_SPEED

SET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int>

h2. Description:

Sets the acceleration speed of the selected motor.

h2. Example:

SET ACC_SPEED RIGHT 10

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h2. GET ACCELERATION_MODE

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

h3. Description:

Returns the current acceleration mode.

h3. Example:

GET ACCELERATION_MODE BOTH

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h2. GET MOTOR_MODE

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

h3. Description:

Returns the current motor mode.

h3. Example:

GET MOTOR_MODE

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h2. GET MAX_SPEED

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

h3. Description:

Returns the current max motor speed.

h3. Example:

GET MAX_SPEED BOTH

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h2. GET ACC_SPEED

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

h3. Description:

Returns the current acceleration speed.

h3. Example:

GET ACC_SPEED

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h2. GET CONTROLLER_MAX_SPEED

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

h3. escription:

Returns the max controller speed

h3. Example:

GET CONTROLLER_MAX_SPEED RIGHT

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h2. RELEASE

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

h3. Description:

Releases the motor coils.

h3. Example:

RELEASE RIGHT

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h2. CLEAR

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

h3. Description:

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

h3. Example:

CLEAR

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h2. STOP

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

h3. Description:

Immediately stops the selected motors and clears their order queue.

h3. Example:

STOP LEFT


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