Pololu Simple Manual do Utilizador Página 75
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Sending ASCII commands to the Simple Motor Controller
from HyperTerminal (with echoing of typed characters
enabled).
6.3.1. ASCII Command Reference
Exit Safe-Start (Serial/USB input mode
only)
Command Format: “GO<CR>”
Description: This command clears the
Serial/USB safe-start violation and allows
the motor to run. When Safe-Start
protection is enabled, this command must be
issued when the controller is first powered
up, after any reset, and after any error stops
the motor.
Motor Forward (Serial/USB input mode
only)
Command Format: “F<speed><CR>”
Description: This command sets the motor
target speed in the forward direction. The
argument speed can be an integer from 0
(motor stopped) to 3200 (motor forward at
full speed) or an integer percentage from 0%
to 100%. You can represent the speed in hex
by putting an “H” at the end of the number.
If the argument speed is outside the allowed
range, a Serial Format Error occurs..
Examples: The following commands all
make the motor drive forward at half speed:
◦ “F1600<CR>”
◦ “F50%<CR>”
◦ “F640H<CR>”
Motor Reverse (Serial/USB input mode
only)
Command Format: “R<speed><CR>”
Description: This command sets the motor
target speed in the reverse direction. It
behaves the same as the Motor Forward
command above, except the motor turns in the opposite direction.
Motor Brake (Serial/USB input mode only)
Command Format: “B<brake_amount><CR>”
Description: This command causes the motor to immediately brake by the specified amount (configured
deceleration limits are ignored). The argument brake_amount can be an integer from 0 (maximum coasting) to
32 (full braking) or an integer percentage from 0% to 100%. You can represent the brake amount in hex by
Pololu Simple Motor Controller User's Guide © 2001–2014 Pololu Corporation
6. Using the Serial Interface Page 75 of 101
- User's Guide 1
- 1. Overview 3
- Additional Features 4
- 1.1. 18v7 Included Hardware 6
- 1. Overview Page 9 of 101 9
- 2. Contacting Pololu 10
- 3. Getting Started 11
- Motor Limits 18
- Input Channels 18
- Conditions 18
- 3.4. Errors 20
- 3.5. LED Feedback 22
- Green USB LED 23
- Red Error LED 23
- Yellow Status LED 23
- Power Considerations 28
- Motor Considerations 29
- Power and Motor Connectors 30
- Logic Power 31
- Serial Connections Overview 33
- The ERR Pin in Detail 35
- The TXIN Pin in Detail 36
- RC Connections Overview 38
- Using the RC Channels 38
- Analog Connections Overview 41
- Using the Analog Channels 42
- 5.1. Input Settings 44
- Input Mode 45
- Mixing Mode 45
- Alternate Use 46
- Learn button 47
- Scaling Parameters 47
- 5.2. Motor Settings 49
- Hard Limits 49
- 5.3. Advanced Settings 51
- VIN Detection 52
- Over-temperature Response 53
- RC Pulse Detection 53
- Miscellaneous 53
- 5.4. Upgrading Firmware 54
- Firmware Versions 54
- Upgrade Instructions 54
- 6. Using the Serial Interface 56
- 6.1. Serial Settings 58
- 6.2. Binary Commands 59
- Compact Protocol 60
- Pololu Protocol 60
- Mini SSC Protocol 61
- Get Variable (any input mode) 66
- 30 + 256 * 1 = 286 67
- Stop Motor (any input mode) 70
- 6.3. ASCII Commands 71
- Command Format 71
- Command Strings 71
- Argument Strings 72
- Termination Characters 72
- Responses 72
- Using a Terminal Program 73
- 6.4. Controller Variables 78
- Status Flag Registers 78
- RC Channel Inputs 80
- Analog Channel Inputs 81
- Diagnostic Variables 82
- Temporary Motor Limits 83
- 6.6. Daisy Chaining 86
- Connections 87
- Sending commands 87
- 6.7. Sample Code 87
- 6.7.1. Arduino Examples 88
- Advanced Example 89
- 6.7.2. Orangutan Examples 91
- 6.7.4. Windows C Example 98
- 6.7.5. Bash Script Example 98
- 6.7.6. CRC Computation in C 99
- Native USB Interface 101
- Virtual Serial Port 101
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