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serial.html
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<!DOCTYPE html>
<html lang="en">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1">
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<link rel="stylesheet" type="text/css" href="css/responsive_md.css" />
<script src="js/utility.js"></script>
<title>DaisyDriver - Serial Interface</title>
</head>
<body>
<div class="main-container">
<header>
<img src="assets/daisydrivertext.png">
<nav role="navigation">
<div id="dd-imgcontainer">
<img src="assets/reorder-three.svg" / id="dd-img">
</div>
<div id="dd-content">
<a href="index.html">Home</a
><a href="assembly.html">Assembly</a
><a href="operation.html">Operating</a
><a href="serial.html" class="current">Serial Interface</a
><a href="gui.html">GUI</a
><a href="programming.html">Programming</a>
</div>
</nav>
</header>
<section>
<h1 class="postheading">Serial Interface</h1>
<p>
DaisyDriver modules are commanded and queried using a serial link over USB.
Commands sent to the DaisyDriver must be sent with the following parameters;
115200 baud, 8 data bits, 1 stop bit, no parity, and terminated with the carriage
return character <code>\r</code>. Unrecognised commands or commands with insufficient characters
will be reported via the serial connection, and ignored. The DaisyDriver comes preloaded
with commands to access its main functions. These commands are listed alphabetically
below, with details of their operation.
</p>
<div class="command">
<h2 class="sig">ENG</h2>
<p>
<code>ENG</code> activates the axes of a module, switching the motor drivers on if they have
been disengaged. This command takes no arguments.<br /><br />
Example: <code>ENG \r</code> activates the axes of a module, turning on the current
to the motor windings.
</p>
</div>
<div class="command">
<h2 class="sig">MOV <i>X Y Z</i></h2>
<p>
<code>MOV</code> commands the module to move to step to a certain position, specified by the
arguments. <code>MOV</code> is an absolute positioning command, rather than a relative
positioning command. This means that repeated calls to <code>MOV</code> must specify
different coordinates in order to cause motion.<br /><br />
Example: <code>MOV 500 500 500 \r</code> sends a module to (500, 500, 500).
</p>
</div>
<div class="command">
<h2 class="sig">NET <i>Address Command Arguments</i></h2>
<p>
<code>NET</code> sends commands to modules connected in a chain. As all DaisyDriver commands are
sent to the first module in a chain, commands for downstream modules must be sent
with <code>NET</code>.<br /><br />
Example: <code>NET 3 MOV 500 500 500 \r</code> sends module 3 to (500, 500, 500).
</p>
</div>
<div class="command">
<h2 class="sig">SLP</h2>
<p>
<code>SLP</code> deactivates the axes of a module, switching the motor drivers off if they
are engaged. This command takes no arguments<br /><br />
Example: <code>SLP \r</code> deactivates the axes of a module, turning off the current
to the motor windings.
</p>
</div>
<div class="command">
<h2 class="sig">STV <i>Vx Vy Vz</i></h2>
<p>
<code>STV</code> sets the velocities of the axes, as measured in steps per second.
<i>N.B. Commanding the motors to run at velocities greater than 1000 steps/s
will cause them to behave unreliably.</i><br /><br />
Example: <code>STV 300 400 500 \r</code> sets the module's X velocity to 300
steps/s, the Y velocity to 400 steps/s, and the Z velocity to 500 steps/s.
</p>
</div>
</section>
</div>
<footer>
<p>Site code by Jonathan Louis Kaplan and Fergus Riche under MIT License unless otherwise stated.</p>
</footer>
</body>
</html>