Pololu Simple Manual do Utilizador descarregar pdf (Página 76)

putting an “H” at the end of the number. If the argument brake_amount is outside the allowed range, a Serial

Format Error occurs.

Error. Examples: The following commands all make the motor brake as hard as possible:

◦ “B32<CR>”

◦ “B100%<CR>”

◦ “B20H<CR>”

Get Variable (any input mode)

Command Format: “D<variable_id><CR>”

Description: This command lets you read a variable from the Simple Motor Controller. See Section 6.4 for a

list of all of available variables. The value of the requested variable is transmitted as an ASCII-encoded decimal

number. If the argument variable_id is between 41 and 127, a Serial Format Error occurs.

Example: The following commands both request the board temperature (variable ID 24, or 0x18):

◦ “D24<CR>”

◦ “D18H<CR>”

We might receive “.286<CR><LF>” as a response. The leading ‘.’ is a status character that indicates the last

command was understood and no errors are currently stopping the motors. The rest of the characters before

the carriage return (<CR>) and new line (<LF>) characters are an ASCII representation of a decimal (base 10)

number. This particular variable has units of 0.1 °C, which would mean that the board temperature is 28.6 °C.

Set Motor Limit(any input mode)

Command Format: “L<limit_id>,<limit_value><CR>”

Description: This command lets you change the temporary motor limit variables documented in Section 6.4.

Limit IDs from 0 to 3 are affect both forward and reverse limits equally (they are “symmetric”). Limit IDs from 4

to 7 affect only forward limits and limit IDs from 8 to 11 affect only reverse limits. The following table provides

the limit IDs for all of the temporary motor limit variables along with the allowed limit values:

6. Using the Serial Interface Page 76 of 101

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Pololu Simple Manual do Utilizador Página 76