mirror of
https://github.com/eddyem/scorpio.git
synced 2025-12-06 10:45:15 +03:00
71 lines
2.0 KiB
Plaintext
71 lines
2.0 KiB
Plaintext
Rotation direction as seems from back side of motor!
|
|
|
|
Command protocol: [ addr command data ]
|
|
broadcast addr: b
|
|
commands:
|
|
0/1 - command for given motor:
|
|
E - get end-switches
|
|
L - move CCW
|
|
M - get motor state (RELAX, INFMV+/-, STOP, MVSTP+/-, OFFSW+/-, UNDEF)
|
|
N - go for N st./get rest
|
|
O - pull off the switch
|
|
P - get current position
|
|
R - move CW
|
|
S - get/set speed
|
|
X - stop motor
|
|
Z - stop and zero position
|
|
r - reset MCU
|
|
G - get board address
|
|
L 0/1 - LED on/off
|
|
P ch val - PWM on channel ch
|
|
T - time counter value
|
|
|
|
examples:
|
|
[00E] -> [ 0 0 E 0 ] (no esw)
|
|
[01E] -> [ 0 1 E 3 ] (both - bad situation)
|
|
[00L] -> [ 0 0 L ] (all OK)
|
|
[01L] -> [ 0 1 L E 1 ] (on left endswitch)
|
|
[00R] -> [ 0 0 R E 2 ] (on right endswitch)
|
|
[01R][01M] -> [ 0 1 M INFMV+ ]
|
|
[01N400] -> [ 0 1 N 400 ] (start moving)
|
|
[01N] -> [ 0 1 N 46 ] (steps left)
|
|
[00N-300] -> [ 0 0 N err ] (on endswitch)
|
|
[00O-100] -> [ 0 0 O err ] (on left endswitch)
|
|
[00O100] -> [ 0 0 O 100 ] (on rigth endswitch or out of them)
|
|
[01P] -> [ 0 1 P 1903 ] (current position in full steps)
|
|
[00S] -> [ 0 0 S 2500 ] (get speed value)
|
|
[01S1500] -> [ 0 1 S 1500 ] (set speed value)
|
|
[01X] -> [ 0 1 X ]
|
|
[01Z] -> [ 0 1 Z ]
|
|
|
|
[0r] ->
|
|
|
|
Hello! My address is 0
|
|
|
|
|
|
Command protocol: [ addr command data ]
|
|
broadcast addr: b
|
|
commands:
|
|
0/1 - command for given motor:
|
|
E - get end-switches
|
|
L - move CCW
|
|
M - get motor state
|
|
N - go for N st./get rest
|
|
O - pull off the switch
|
|
P - get current position
|
|
R - move CW
|
|
S - get/set speed
|
|
X - stop motor
|
|
Z - stop and zero position
|
|
r - reset MCU
|
|
G - get board address
|
|
L 0/1 - LED on/off
|
|
P ch val - PWM on channel ch
|
|
T - time counter value
|
|
|
|
|
|
[0G] -> [ 0 G 0 ]
|
|
[0L] -> [ 0 L 0 ], [0L1] -> [ 0 L 1 ], [0L] -> [ 0 L 1 ]
|
|
[0P] -> [ 0 P 0 0 ], [0P0100] -> [ 0 P 0 100 ], [0P0] -> [ 0 P 0 100 ], [0P510] -> [ 0 P -1 ], [0P0500] -> [ 0 P 0 -1 ]
|
|
[0T] -> [ 0 T 191593 ]
|