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Protocol » Zgodovina » Verzija 9

Aleksandar Todorovic, 03.03.2013 19:23

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h1. Protocol
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h2. MOVE 
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<pre>
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MOVE <motor [LEFT|RIGHT|BOTH] default:BOTH> <direction [FORWARD|BACKWARD]> <unsigned int amount> <unit [MM|CM|M|STEPS] defaults:STEPS> 
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</pre> 
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h3. Description:
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Moves the selected motor in the desired direction by a desired amount.
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h3. Example:
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MOVE LEFT FORWARD 100
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Moves the left motor for 100 steps.
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MOVE RIGHT FORWARD 15 CM
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Moves the right motor for 15 cm.
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MOVE BACKWARD 1 M
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Moves both motors 1 m backward.
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h2. SET ACCELERATION_MODE
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<pre>
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SET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <acceleration mode [CONSTANT|LINEAR] default:LINEAR>
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</pre>
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h3. Description:
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Sets the acceleration method of the selected motor.
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h3. Example:
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SET ACCELERATION_MODE LINEAR
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h2. SET MOTOR_MODE
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<pre>
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SET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH> <motor mode [INTERLEAVE|MICROSTEP|SINGLE|DOUBLE] default:double>
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</pre>
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h3. Description:
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Sets the motor mode of the selected motor.
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h3. Example
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SET MOTOR_MODE INTERLEAVE
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h2. SET MAX_SPEED
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<pre>
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SET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int (capped with motor constraints)>
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</pre>
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h3. Description:
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Sets the max motor speed of the selected motor.
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h3. Example:
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SET MAX_SPEED BOTH 40
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h2. SET ACC_SPEED
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<pre>
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SET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH> <unsigned int>
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</pre>
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h3. Description:
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Sets the acceleration speed of the selected motor.
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h3. Example:
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SET ACC_SPEED RIGHT 10
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h2. GET ACCELERATION_MODE
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<pre>
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GET ACCELERATION_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH>
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</pre>
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h3. Description:
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Returns the current acceleration mode.
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h3. Example:
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GET ACCELERATION_MODE BOTH
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h2. GET MOTOR_MODE
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<pre>
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GET MOTOR_MODE <motor [LEFT|RIGHT|BOTH] default:BOTH>
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</pre>
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h3. Description:
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Returns the current motor mode.
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h3. Example:
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GET MOTOR_MODE
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h2. GET MAX_SPEED
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<pre>
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GET MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>
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</pre>
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h3. Description:
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Returns the current max motor speed.
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h3. Example:
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GET MAX_SPEED BOTH
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h2. GET ACC_SPEED
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GET ACC_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>
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h3. Description:
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Returns the current acceleration speed.
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h3. Example:
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GET ACC_SPEED
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h2. GET CONTROLLER_MAX_SPEED
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<pre>
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GET CONTROLLER_MAX_SPEED <motor [LEFT|RIGHT|BOTH] default:BOTH>
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</pre>
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h3. escription:
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Returns the max controller speed
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h3. Example:
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GET CONTROLLER_MAX_SPEED RIGHT
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h2. RELEASE
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<pre>
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RELEASE <motor [LEFT|RIGHT|BOTH] default:BOTH>
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</pre>
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h3. Description:
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Releases the motor coils.
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h3. Example:
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RELEASE RIGHT
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h2. CLEAR
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<pre>
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CLEAR <motor [LEFT|RIGHT|BOTH] default:BOTH>
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</pre>
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h3. Description:
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Clears selected motors order queue. The currently executing order is not affected.
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h3. Example:
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CLEAR
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h2. STOP
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<pre>
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STOP <motor [LEFT|RIGHT|BOTH] default:BOTH>
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</pre>
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h3. Description:
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Immediately stops the selected motors and clears their order queue.
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h3. Example:
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STOP LEFT