UART commands¶
Every command the firmware release this site describes understands over the serial port. The kind, the argument type, the mode a command enters and what it prints are read from the firmware; the descriptions are written by hand. Over UART explains the protocol.
Syntax¶
- A Set/Get command sets the value when a number follows and prints the current value either way.
- A Get command only prints.
- An Action command does something; a number after it is ignored.
- Names are case-sensitive, at most 19 characters; the number at most 19; the line ends with LF (CR before it is fine). 256000 baud, 8N1, 3.3 V.
- A name the parser does not know is answered
Unknown command.
Every command¶
| Command | Kind | Argument | Group |
|---|---|---|---|
#Activate |
Action | Status and utility | |
#Brake |
Set/Get | int | Motion |
#Cal |
Action | Calibration and motor parameters | |
#Calibrated |
Set/Get | int | Calibration and motor parameters |
#Calpwr |
Set/Get | float | Calibration and motor parameters |
#CANID |
Set/Get | int | Status and utility |
#Cbw |
Set/Get | float | Gains and limits |
#Clear |
Action | Status and utility | |
#Close |
Action | Motion | |
#Cyc |
Set/Get | int | Status and utility |
#Cyca |
Set/Get | int | Status and utility |
#Default |
Action | Status and utility | |
#Dir |
Set/Get | int | Calibration and motor parameters |
#Error |
Get | Status and utility | |
#Flux |
Set/Get | float | Calibration and motor parameters |
#Gripact |
Set/Get | int | Gripper |
#Gripcal |
Action | Gripper | |
#Gripcur |
Set/Get | int | Gripper |
#Gripinfo |
Get | Gripper | |
#Gripper |
Set/Get | int | Gripper |
#Grippos |
Set/Get | int | Gripper |
#Gripstop |
Set/Get | int | Gripper |
#Gripvel |
Set/Get | int | Gripper |
#Help |
Action | Status and utility | |
#Iabc |
Get | Status and utility | |
#Id |
Set/Get | float | Motion |
#Idle |
Action | Motion | |
#Ilim |
Set/Get | int | Gains and limits |
#Info |
Get | Status and utility | |
#Iq |
Set/Get | float | Motion |
#Iqoffset |
Set/Get | int | Calibration and motor parameters |
#KD |
Set/Get | float | Gains and limits |
#Kiid |
Set/Get | float | Gains and limits |
#Kiiq |
Set/Get | float | Gains and limits |
#Kiv |
Set/Get | float | Gains and limits |
#KP |
Set/Get | float | Gains and limits |
#Kpid |
Set/Get | float | Gains and limits |
#Kpiq |
Set/Get | float | Gains and limits |
#Kpp |
Set/Get | float | Gains and limits |
#Kpv |
Set/Get | float | Gains and limits |
#Kt |
Set/Get | float | Calibration and motor parameters |
#KV |
Set/Get | float | Calibration and motor parameters |
#L |
Set/Get | float | Calibration and motor parameters |
#LED |
Set/Get | int | Status and utility |
#Magnet |
Get | Calibration and motor parameters | |
#Mode |
Get | Status and utility | |
#Offset |
Set/Get | float | Calibration and motor parameters |
#Openloop |
Set/Get | float | Motion |
#Opens |
Set/Get | float | Calibration and motor parameters |
#Openv |
Set/Get | int | Calibration and motor parameters |
#P |
Set/Get | int | Motion |
#Param |
Get | Status and utility | |
#PD |
Set/Get | int | Motion |
#PDI |
Set/Get | int | Motion |
#PDV |
Set/Get | int | Motion |
#Phase |
Get | Calibration and motor parameters | |
#PP |
Set/Get | int | Calibration and motor parameters |
#Pullconfig |
Get | Status and utility | |
#PWM |
Get | Status and utility | |
#R |
Set/Get | float | Calibration and motor parameters |
#Reset |
Action | Status and utility | |
#Resv |
Set/Get | int | Calibration and motor parameters |
#Rstint |
Set/Get | int | Gains and limits |
#Save |
Action | Status and utility | |
#SERNUM |
Set/Get | int | Status and utility |
#Temp |
Get | Status and utility | |
#Term |
Set/Get | int | Status and utility |
#Tlim |
Set/Get | int | Status and utility |
#Ud |
Set/Get | int | Motion |
#Uq |
Set/Get | int | Motion |
#V |
Set/Get | int | Motion |
#Vbus |
Get | Status and utility | |
#Vlim |
Set/Get | int | Gains and limits |
#Vlimit |
Set/Get | int | Gains and limits |
#Vmax |
Set/Get | int | Status and utility |
#Vp |
Set/Get | int | Calibration and motor parameters |
The parser also accepts #Calangle, #EN, #SIN, #SPWM, #Vmin, #flux, #zz, which have no handler: the driver answers Unknown command to them, as to a name it does not know.
By group¶
- Motion: setpoints and modes
- Gains and limits: the loop gains, the limits, the integrator reset, the current loop bandwidth
- Calibration and motor parameters:
Cal, the motor's R, L and pole pairs, the constants calibration finds, the calibration settings - Status and utility: save, reset, defaults, identity, errors, temperature, the cyclic output
- Gripper: gripper mode
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