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Kinisi motor controller commands

Version: 1.0.4

Commands

INITIALIZE_MOTOR (0x01)

Description: This command initializes a motor and prepares it for use.
Properties:

  • motor_index (uint8_t): The index of the motor to initialize.
    • Range: 0 to 3
  • is_reversed (bool): Whether or not the motor is reversed.

SET_MOTOR_SPEED (0x02)

Description: This command sets the speed of the specified motor in PWM.
Properties:

  • motor_index (uint8_t): The index of the motor to set the speed for.
    • Range: 0 to 3
  • pwm (double): The speed of the motor.
    • Range: -100.0 to 100.0

STOP_MOTOR (0x03)

Description: This command stops motor by setting its speed to 0.
Properties:

  • motor_index (uint8_t): The index of the motor to set the speed for.
    • Range: 0 to 3

BRAKE_MOTOR (0x04)

Description: This command brakes motor.
Properties:

  • motor_index (uint8_t): The index of the motor to set the speed for.
    • Range: 0 to 3

INITIALIZE_MOTOR_CONTROLLER (0x05)

Description: This command sets the controller for the specified motor.
Properties:

  • motor_index (uint8_t): The index of the motor to set the controller for.
    • Range: 0 to 3
  • is_reversed (bool): Whether or not the motor is reversed.
  • encoder_index (uint8_t): The index of the encoder to use for the controller.
    • Range: 0 to 3
  • encoder_resolution (double): Encoder resolution in ticks per revolution. The value can not be negative or zero.
  • kp (double): Proportional constant of PID
  • ki (double): Integral constant of PID
  • kd (double): Derivative constant of PID
  • integral_limit (double): Integral limit of PID controller. The value can not be negative or zero. If the value is zero or negative, the integral limit is disabled.

SET_MOTOR_TARGET_SPEED (0x06)

Description: This command sets the target speed for the specified motor in radians.
Properties:

  • motor_index (uint8_t): The index of the motor to set the target velocity for.
    • Range: 0 to 3
  • speed (double): The speed of the motor.

RESET_MOTOR_CONTROLLER (0x07)

Description: This command resets the controller for the specified motor.
Properties:

  • motor_index (uint8_t): The index of the motor to reset the controller for.
    • Range: 0 to 3

GET_MOTOR_CONTROLLER_STATE (0x08)

Description: This command gets the state of the controller for the specified motor.
Properties:

  • motor_index (uint8_t): The index of the motor to get the state for.
    • Range: 0 to 3 Response:
  • motor_controller_state (object): The state of the controller for the specified motor.

DELETE_MOTOR_CONTROLLER (0x09)

Description: This command deletes the controller for the specified motor.
Properties:

  • motor_index (uint8_t): The index of the motor to delete the controller for.
    • Range: 0 to 3

INITIALIZE_ENCODER (0x11)

Description: This command initializes an encoder and prepares it for use.
Properties:

  • encoder_index (uint8_t): The index of the encoder to initialize.
    • Range: 0 to 3
  • encoder_resolution (double): Encoder resolution in ticks per revolution. The value can not be negative or zero.
  • is_reversed (bool): Whether or not the encoder is reversed.

GET_ENCODER_VALUE (0x12)

Description: This command retrieves the current value of the encoder.
Properties:

  • encoder_index (uint8_t): The index of the encoder to retrieve the value for.
    • Range: 0 to 3 Response:
  • encoderValue (uint16_t): The current value of the encoder.

START_ENCODER_ODOMETRY (0x13)

Description: This command starts the odometry calculation for the specified encoder.
Properties:

  • encoder_index (uint8_t): The index of the encoder to start the odometry calculation for.
    • Range: 0 to 3

RESET_ENCODER_ODOMETRY (0x14)

Description: This command resets the odometry calculation for the specified encoder.
Properties:

  • encoder_index (uint8_t): The index of the encoder to reset the odometry calculation for.
    • Range: 0 to 3

STOP_ENCODER_ODOMETRY (0x15)

Description: This command stops the odometry calculation for the specified encoder.
Properties:

  • encoder_index (uint8_t): The index of the encoder to stop the odometry calculation for.
    • Range: 0 to 3

GET_ENCODER_ODOMETRY (0x16)

Description: This command retrieves the odometry of the specified encoder.
Properties:

  • encoder_index (uint8_t): The index of the encoder to retrieve the odometry for.
    • Range: 0 to 3 Response:
  • odometry (double): The odometry of the encoder in radians.

INITIALIZE_GPIO_PIN (0x20)

Description: This command initializes a digital pin and prepares it for use.
Properties:

  • pin_number (uint8_t): The number of the pin to initialize.
  • mode (uint8_t): Set digital pin as input or output. Modes: 0 = INPUT_PULLDOWN, 1 = INPUT_PULLUP, 2 = INPUT_NOPULL, 3 = OUTPUT.

SET_GPIO_PIN_STATE (0x21)

Description: This command sets the specified pin to a state.
Properties:

  • pin_number (uint8_t): The number of the pin to set to a state.
  • state (uint8_t): The state of the pin. 0 = LOW, 1 = HIGH.

GET_GPIO_PIN_STATE (0x22)

Description: This command gets the state of the specified pin.
Properties:

  • pin_number (uint8_t): The number of the pin to get the state for. Response:
  • state (uint8_t): The state of the pin. 0 = LOW, 1 = HIGH.

TOGGLE_GPIO_PIN_STATE (0x23)

Description: This command toggles the specified pin.
Properties:

  • pin_number (uint8_t): The number of the pin to toggle.

SET_STATUS_LED_STATE (0x25)

Description: This command sets the status LED to a state.
Properties:

  • state (uint8_t): The state of the status LED. 0 = OFF, 1 = ON.

TOGGLE_STATUS_LED_STATE (0x26)

Description: This command toggles the status LED.
Properties:

  • None

INITIALIZE_MECANUM_PLATFORM (0x30)

Description: This command initializes a mecanum platform and prepares it for use.
Properties:

  • is_reversed_0 (bool): Determins if motor 0 is reversed.
  • is_reversed_1 (bool): Determins if motor 1 is reversed.
  • is_reversed_2 (bool): Determins if motor 2 is reversed.
  • is_reversed_3 (bool): Determins if motor 3 is reversed.
  • length (double): Length of the platform in meters.
  • width (double): Width of the platform in meters.
  • wheels_diameter (double): Diameter of the robot wheels in meters.
  • encoder_resolution (double): Encoder resolution in ticks per revolution. The value can not be negative. If platform does not have encoders, the value should be set to zero.

INITIALIZE_OMNI_PLATFORM (0x31)

Description: This command initializes a omni platform and prepares it for use.
Properties:

  • is_reversed_0 (bool): Determins if motor 0 is reversed.
  • is_reversed_1 (bool): Determins if motor 1 is reversed.
  • is_reversed_2 (bool): Determins if motor 2 is reversed.
  • wheels_diameter (double): Diameter of the robot wheels in millimeters.
  • robot_radius (double): Distance berween the center of the robot and the center of the wheels in millimeters.
  • encoder_resolution (double): Encoder resolution in ticks per revolution. The value can not be negative. If platform does not have encoders, the value should be set to zero.

SET_PLATFORM_VELOCITY (0x40)

Description: This command sets the velocity for the platform in PWM.
Properties:

  • x (double): X component of platform velocity in PWM
    • Range: -100.0 to 100.0
  • y (double): Y component of platform velocity in PWM
    • Range: -100.0 to 100.0
  • t (double): Theta component of platform velocity in PWM
    • Range: -100.0 to 100.0

START_PLATFORM_CONTROLLER (0x41)

Description: This command sets the controller for the platform.
Properties:

  • kp (double): Proportional constant of PID
  • ki (double): Integral constant of PID
  • kd (double): Derivative constant of PID
  • integral_limit (double): Integral limit of PID controller. The value can not be negative or zero. If the value is zero or negative, the integral limit is disabled.

SET_PLATFORM_TARGET_VELOCITY (0x42)

Description: This command set the target velocity for the platform in meters per second.
Properties:

  • x (double): X component of platform velocity in meters per second
  • y (double): Y component of platform velocity in meters per second
  • t (double): Theta component of platform velocity in radians per second

GET_PLATFORM_CURRENT_VELOCITY (0x43)

Description: This command gets the current velocity of the platform in meters per second.
Properties:

  • None Response:
  • platform_velocity (object): The current velocity of the platform in meters per second.

STOP_PLATFORM_CONTROLLER (0x44)

Description: This command stops the controller for the platform.
Properties:

  • None

START_PLATFORM_ODOMETRY (0x45)

Description: This command starts the odometry calculation for the platform.
Properties:

  • None

RESET_PLATFORM_ODOMETRY (0x46)

Description: This command resets the odometry calculation for the platform.
Properties:

  • None

STOP_PLATFORM_ODOMETRY (0x47)

Description: This command stops the odometry calculation for the platform.
Properties:

  • None

GET_PLATFORM_ODOMETRY (0x48)

Description: This command retrieves the odometry of the platform in meters and radians.
Properties:

  • None Response:
  • platform_odometry (object): The odometry of the platform in meters and radians.