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Motor Unit Packets
These packets are made for the Motor Units
| Packet Name | Direction | Priority | Packet ID | B1 | B2 | B3 | B4 | B5 | B6 | B7 |
|---|---|---|---|---|---|---|---|---|---|---|
| Mode Set | Recieve | Normal | 0x00 | Mode Set Byte | ||||||
| 0x01 | ||||||||||
| 0x02 | ||||||||||
| Motor PWM & Direction | Receive | Normal | 0x03 | PWM & Direction int16_t MSB | LSB | |||||
| Motor PID Position Target | Receive | Normal | 0x04 | Target to 1000th degree int32_t MSB | -> | -> | LSB | |||
| P Coefficient Set | Receive | Normal | 0x05 | P_Coefficient*10 int32_t MSB | -> | -> | LSB | |||
| I Coefficient Set | Receive | Normal | 0x06 | I_Coefficient*10 int32_t MSB | -> | -> | LSB | |||
| D Coefficient Set | Receive | Normal | 0x07 | D_Coefficient*10 int32_t MSB | -> | -> | LSB | |||
| Initialize with Mode (not implemented yet) | Receieve | Normal | 0x08 | |||||||
| Limit Switch Alert | Send | High | 0x09 | Sender Group Code | Sender Serial Number | Limit Switch Status | ||||
| Encoder Pulse Per Joint Revolution Set | Receieve | Normal | 0x0A | Encoder Pulse per joint Rev uint32_t MSB | -> | -> | LSB | |||
| Maximum Joint Revolutions Set | Receive | Normal | 0x0B | Maximum Joint Rotation in quarter rotation | ||||||
| Initialize Encoder | Receive | Normal | 0x0C | Initilization Packet | ||||||
| Max PWM for PID | Receive | Normal | 0x0D | PWM max uint16_t MSB | LSB | |||||
| PCA PWM | Receive | Normal | 0x0E | PCA pin uint8_t | On Time uint16_t MSB | LSB | Off Time uint16_t MSB | LSB | ||
| Pot Set Low | Receive | Normal | 0x0F | ADC value uint16_t MSB | ADC value uint16_t LSB | Joint position (millideg) int32_t MSB | -> | -> | Joint position (millideg) int32_t LSB | |
| Pot Set High | Receive | Normal | 0x10 | ADC value uint16_t MSB | ADC value uint16_t LSB | Joint position (millideg) int32_t MSB | -> | -> | Joint position (millideg) int32_t LSB | |
| PCA Servo | Receive | Normal | 0x11 | Servo Num uint8_t | Angle (millideg) int32_t MSB | -> | -> | Angle (millideg) int32_t LSB | ||
| Set Limit Switch Encoder Bound | Receieve | Normal | 0x12 | Limit Switch Number uint8_t | Encoder Count int32_t MSB | -> | -> | Encoder Count int32_t LSB | ||
| Set Peripherals | Receieve | Normal | 0x13 | Peripheral ID uint8_t | Peripheral Set uint16_t MSB | Peripheral Set uint16_t LSB |
Additional information of the packet
| Mode Set Byte | Description |
|---|---|
| 0x00 | PWM Control |
| 0x01 | PID Control |
The Coefficients sent are in units of 10000. So sending a 1 will be interpreted as 10000.
Limit Switch Status: Each bit represents a limit switch state. If a bit is set to 1 it means it is closed, 0 means it is open.
Initialization Packet
| bit | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
|---|---|---|---|---|---|---|---|---|
| Description: | X | X | X | X | X | 1 means motor board uses a potentiometer, 0 means the motor board uses a encoder | 1 means reverse angle dirction | 1 means set Encoder to Angle 0, 0 means ignore |
Notice that the uint16_t can create a much larger value than the int16_t can in the set PWM function. However, sending a value larger than or equal to the max value of int16_t (32,767) should be treated as 100% power. This is to keep it consistent with the set motor PWM direction.
Limit Switch Number: Used to select which limit switch the given count should be correlated with. Use 0 and 1, probably cw vs ccw
Encoder Count: The count that the quad dec should be set to when the limit switch in question is hit
Sets the mapping between potentiometer value (ADC reading) and millidegrees.
| Peripheral ID | Peripheral Name | Min. Value | Max. Value |
|---|---|---|---|
| 0x00 | Null | N/A | N/A |
| 0x01 | Laser | 0 | 65536 |
| 0x02 | Linear Actuator | 0 (off) | 1 (on) |