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.

h2. SET ACCELERATION_MODE

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

h3. Description:

Sets the acceleration method of the selected motor.

h3. Example:

SET ACCELERATION_MODE LINEAR

h2. SET MOTOR_MODE

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

h3. Description:

Sets the motor mode of the selected motor.

h3. Example

SET MOTOR_MODE INTERLEAVE

h2. SET MAX_SPEED

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

h3. Description:

Sets the max motor speed of the selected motor.

h3. Example:

SET MAX_SPEED BOTH 40

h2. SET ACC_SPEED

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

h3. Description:

Sets the acceleration speed of the selected motor.

h3. Example:

SET ACC_SPEED RIGHT 10

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

h2. GET MOTOR_MODE

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

h3. Description:

Returns the current motor mode.

h3. Example:

GET MOTOR_MODE



h2. GET MAX_SPEED

<pre>


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

h3. Description:

Returns the current max motor speed.

h3. Example:

GET MAX_SPEED BOTH

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

h2. GET CONTROLLER_MAX_SPEED

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

h3. escription:

Returns the max controller speed

h3. Example:

GET CONTROLLER_MAX_SPEED RIGHT

h2. RELEASE

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

h3. Description:

Releases the motor coils.

h3. Example:

RELEASE RIGHT



h2. CLEAR

<pre>


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

h3. Description:

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

h3. Example:

CLEAR

h2. STOP

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

h3. Description:

Immediately stops the selected motors and clears their order queue.

h3. Example:

STOP LEFT