Pololu Simple Manual do Utilizador descarregar pdf (Página 65)

To set the motor target speed to approximately half-speed forward (63), we could send the following compact

protocol bytes:

We Send:

Command Byte Data Byte 1

Compact Protocol 0x89 (137) 0x3F (63)

Motor Reverse 7-Bit (Serial/USB input mode only)

Command Format:

Command Byte Data Byte 1 Data Byte 2 Data Byte 3

Compact Protocol 0x8A (138) speed - -

Pololu Protocol 0xAA (170) device number 0x0A (10) speed

Description: This command sets the motor target speed in the reverse direction based on the specified low-

resolution (7-bit) Speed byte. The Speed byte is a number from 0 (motor stopped) to 127 (motor reverse at full

speed). This command has no serial response.

Set Speed Mini SSC (Serial/USB input mode only)

Command Format:

Command Byte Data Byte 1 Data Byte 2

Mini SSC Protocol 0xFF (255) device number speed

Description: This is the Mini SSC Protocol command for setting the motor speed. This command has no serial

response. See Section 6.2 for complete documentation of this command.

Motor Brake (Serial/USB input mode only)

Command Format:

Command Byte Data Byte 1 Data Byte 2 Data Byte 3

Compact Protocol 0x92 (146) brake amount - -

Pololu Protocol 0xAA (170) device number 0x12 (18) brake amount

Description: This command causes the motor to immediately brake by the specified amount (configured

deceleration limits are ignored). The Brake Amount byte can have a value from 0 to 32, with 0 resulting in

maximum coasting (the motor leads are floating almost 100% of the time) and 32 resulting in full braking (the

motor leads are shorted together 100% of the time). Requesting a brake amount greater than 32 results in a Serial

Format Error. This command has no serial response.

Example:

6. Using the Serial Interface Page 65 of 101

1 2 ... 60 61 62 63 64 65 66 67 68 69 70 ... 100 101

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Pololu Simple Manual do Utilizador Página 65