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