Miabot Pro Command Summary
From Merlin Systems Wiki
Miabot Pro full command set for version 3.5 -
( see also Parameter summary )
Miabot Pro command set
char routine name descr
---- ------------ ------
{basic operations}
[t] test -> robot id string, like "<test#01>"
[Q] version -> version string, like "<Miabot Pro OS 2.3>"
( [#] dipSwitches - not included at present )
[`] reboot simulate power-on
[!] flashLeds do led test sequence (like startup)
{speed control commands}
[-] setSpeed [-<byteleft><byteright>] set wheel speeds, binary scaled
[=] setSpeedDec [=<number> <number>] set wheels speeds, decimal
[s] stop like [=0,0])
{wheel encoders access}
[:] posOut read encoder values => "<: llllllllll:rrrrrrrrrr>" (signed long decimal)
[:=nn] sets repeat-rate at nn mSecs
[;] posSet write encoder values [;ll,rr] (signed long decimal)
{step (fixed distance) movements}
[^] stepForward step forward (v^ distance)
[v] stepBackward step backward (v^ distance)
[<] stepLeft rotate left (<> distance)
[>] stepRight rotate right (<> distance)
[d] setDist get/set step distances
[d] show v^ and <> step distances
[d?<num>] set - ? is one of {v^<>}
[x] setRate get/set step speeds
[x] show v^ and <> step speeds
[x?<num>] set - ? is one of {v^<>}
[?] stopCheck step complete check -> <?=0>(stopped) -or- <?=1>(still moving)
{"bigtrack" specified-distance movements}
[m] rotateLeft [m<byte>] rotate left by byte distance ([x<] speed)
[n] rotateright [n<byte>] rotate right by byte distance ([x<] speed)
[o] forward [o<byte>] move forward by byte distance ([xv] speed)
[p] backward [p<byte>] rotate right by byte distance ([xv] speed)
{parameter access}
[.] param parameter access -
[.<name>] read param
[.<name>=<value>] write param
[.] show all -> ' '=next, '/'=quit, '.'=rest
[.=] reset all -> 'Y'=reset, other=quit
{command sequence control - see also Miabot Pro Sequences}
[$] clearSeq erase stored sequence
[~] doSeq start sequence running
[+] addSeqCommand [+<command...>] add next sequence command
[w] waitTime [w<num>] delay before next command
( [#] endSeq stop sequence - not used at present )
{radio setup - see also Miabot Pro Radio-board Controls)}
[*] setRadioName [*<string>] change Bluetooth module name (normally "mid###")
[&] setRadioNumber [&<string>] change Bluetooth pass-id (normally "1234")
[#] sendRadioCommand [#<string>] send radio command string
( .#T and .#rs also used )
[@] Radcon_SetidCmd [@xx:xx:xx:xx:xx:xx] set auto-connect id
( where 'xx' are 2-digit hex byte values )
( parameter setting .aEN=1 to enable use )
{voltage inputs}
[V] voltsSample read expansion port voltages (with optional repeating)
[V] read current channel
[V{<num>}{=<num>}] read and set channel and/or repeat-rate :
<num> = 0..7(single) -or- '-'(all 8)
=<num> is rate
N.B. [V=0] or [V=] stops repeating
{I2c access}
[i] I2C_Access [i<XX>...] read or write bytes from I2C bus :
<XX> is hex byte I2C address (upper seven bits = always even value)
[iXX?<num>] read a number of bytes
[iXX=<xx> <xx> ...] write a number of bytes
{servo pulsewidth output}
[P] Servo_Access [P<num> <num> ...] set n pulsewidth outputs 0..255 (up to .ebP)
{I2C remote serial (for MSCcam operation)}
[T] Serrmt_SimTx [T <hex> <hex> ...] send serial bytes via i2c link
[R] Serrmt_SimRx [R <hex> <hex> ...] simulate received serial data from i2c
[X] Serrmt_TerminalMode switch to "terminal" mode
[G] Serrmt_ReadLog output + clear event log
[W] Serrmt_ReadHWM read+reset rx- and tx-buffer statistics
{sonar fast-scan command}
[S] Sonar_DoScan do sonar scan (see control params .RG1-4, .rNB etc)
[edit]
Version Notes
- 2.2 first sensible release
- version command was [?]
- 2.3 i2c [i] and stop-check [?] commands
- version command becomes [Q]
- 2.4 added voltage [V]
- 3.2 added MSCcam support [T] [R] [X] [W] [G] and servo-pulsewidth [P]
- 3.3 added fast-sonar-read [S]
- 3.3b added auto-connect operation [@]
- 3.4a remove debug [\], add encoder-access [:][;]
- 3.5 reinstate [#] radio-command
