This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision | ||
specifications:protocol [2015/10/07 15:36] Guvalif |
specifications:protocol [2021/04/01 13:51] (current) |
||
---|---|---|---|
Line 1: | Line 1: | ||
< | < | ||
Protocol | Protocol | ||
- | ======== | + | =============================================================================== |
- | Translate me. | + | ## Basic Specification |
+ | In sending a command, firstly send header that defined as 3 characters. | ||
+ | Secondly formatting and send each argument. | ||
+ | |||
+ | Before sending a command, client must convert binary-expression to ascii-expression. | ||
+ | (If the client sending a command without conversion, PLEN's moving is different from you intended.) | ||
+ | |||
+ | No differences the command line made of upper case or lower case. | ||
+ | Required baud-rate is **2, | ||
+ | |||
+ | |||
+ | ## Group of Controller Command | ||
+ | ### $AN (Apply Native Value) | ||
+ | |||
+ | |Args | ||
+ | |: | ||
+ | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2 bytes| | ||
+ | |VALUE | ||
+ | |||
+ | *example*: | ||
+ | If you want to apply **1000** to device **10**, send command below. | ||
+ | |||
+ | ``` | ||
+ | $an0a3e8 | ||
+ | ``` | ||
+ | |||
+ | ### $AD (Apply Diff Value) | ||
+ | |||
+ | |Args | ||
+ | |: | ||
+ | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2 bytes| | ||
+ | |VALUE | ||
+ | |||
+ | *example*: | ||
+ | If you want to apply **home value - 100** to device **4**, send command below. | ||
+ | |||
+ | ``` | ||
+ | $ad04f9c | ||
+ | ``` | ||
+ | |||
+ | ### $PM (Play a Motion) | ||
+ | |||
+ | **Attention!** | ||
+ | You could also use " | ||
+ | |||
+ | |Args|Roles | ||
+ | |: | ||
+ | |SLOT|Set to read slot.|0 | ||
+ | |||
+ | *example*: | ||
+ | If you want to play slot **4**, send command below. [See also...](http:// | ||
+ | |||
+ | ``` | ||
+ | $pm04 | ||
+ | ``` | ||
+ | |||
+ | ### $SM (Stop a Motion) | ||
+ | |||
+ | **Attention!** | ||
+ | You could also use " | ||
+ | |||
+ | *example*: | ||
+ | If you want to stop a motion, send command below. | ||
+ | |||
+ | ``` | ||
+ | $sm | ||
+ | ``` | ||
+ | |||
+ | ### $HP (Apply Home Position) | ||
+ | |||
+ | *example*: | ||
+ | If you want to apply home position, send command below. | ||
+ | |||
+ | ``` | ||
+ | $hp | ||
+ | ``` | ||
+ | |||
+ | |||
+ | ## Group of Interpreter Command | ||
+ | ### #PU (Push a Function) | ||
+ | |||
+ | |Args |Roles | ||
+ | |: | ||
+ | |SLOT |Set to read slot. |0 |89 |0 padding,hex,2 bytes| | ||
+ | |LOOP_COUNT|Set number of play.|0 | ||
+ | |||
+ | *example*: | ||
+ | If you want to push function that plays slot **10** **three** times, send command below. | ||
+ | |||
+ | ``` | ||
+ | #pu0a03 | ||
+ | ``` | ||
+ | |||
+ | ### #PO (Pop a Function) | ||
+ | |||
+ | *example*: | ||
+ | If you want to pop a function, send command below. | ||
+ | |||
+ | ``` | ||
+ | #po | ||
+ | ``` | ||
+ | |||
+ | ### #RI (Reset the Interpreter) | ||
+ | |||
+ | *example*: | ||
+ | If you want to reset the interpreter, | ||
+ | |||
+ | ``` | ||
+ | #ri | ||
+ | ``` | ||
+ | |||
+ | |||
+ | ## Group of Setter Command | ||
+ | ### >MH (Set a Motion Header) | ||
+ | |||
+ | |Args |Roles | ||
+ | |: | ||
+ | |SLOT |Set to write slot. |0 |89 |0 padding,hex,2 bytes | | ||
+ | |NAME |Set a motion name. |--- |--- |White space padding,20 bytes| | ||
+ | |USE_LOOP | ||
+ | |LOOP_BEGIN | ||
+ | |LOOP_END | ||
+ | |LOOP_COUNT | ||
+ | |USE_JUMP | ||
+ | |JUMP_SLOT | ||
+ | |USE_EXTRA | ||
+ | |FRAME_LENGTH|Set a frame length. | ||
+ | |||
+ | *example*: | ||
+ | Please get more details at "> | ||
+ | |||
+ | ### >MF (Set a Motion Frame) | ||
+ | |||
+ | |Args |Roles | ||
+ | |: | ||
+ | |SLOT |Set to write slot. | ||
+ | |FRAME_ID | ||
+ | |TRANSITION_TIME_MS|Set a transition time (msec).|32 | ||
+ | |VALUE[DEVICE_ID] | ||
+ | |||
+ | **(*1) Sum of devices is 24 and the all are servo motors in current implementation.** | ||
+ | |||
+ | *example* | ||
+ | Introduce how to install a motion below. | ||
+ | |||
+ | |Args |Values| | ||
+ | |: | ||
+ | |SLOT |0 | | ||
+ | |NAME |Test | | ||
+ | |USE_LOOP | ||
+ | |LOOP_BEGIN | ||
+ | |LOOP_END | ||
+ | |LOOP_COUNT | ||
+ | |USE_JUMP | ||
+ | |JUMP_SLOT | ||
+ | |USE_EXTRA | ||
+ | |FRAME_LENGTH | ||
+ | |||
+ | |Args |Values| | ||
+ | |: | ||
+ | |TRANSITION_TIME_MS|100 | ||
+ | |VALUE[EVEN] | ||
+ | |VALUE[ODD] | ||
+ | |||
+ | Please send command below. (Do not need to insert CR, LF, or CRLF actually.) | ||
+ | |||
+ | ``` | ||
+ | >MH00 | ||
+ | Test | ||
+ | 1 | ||
+ | 00 | ||
+ | 01 | ||
+ | 03 | ||
+ | 1 | ||
+ | 32 | ||
+ | 0 | ||
+ | 02 | ||
+ | |||
+ | >MF | ||
+ | 00 | ||
+ | 00 | ||
+ | 0064 | ||
+ | 0000ffff0000ffff0000ffff0000ffff | ||
+ | 0000ffff0000ffff0000ffff0000ffff | ||
+ | 0000ffff0000ffff0000ffff0000ffff | ||
+ | |||
+ | >MF | ||
+ | 00 | ||
+ | 01 | ||
+ | 0064 | ||
+ | 0000ffff0000ffff0000ffff0000ffff | ||
+ | 0000ffff0000ffff0000ffff0000ffff | ||
+ | 0000ffff0000ffff0000ffff0000ffff | ||
+ | ``` | ||
+ | |||
+ | If you are interested deeply, please see also | ||
+ | [the implementation on the Control Server](https:// | ||
+ | |||
+ | ### >JS (Reset the Joint Settings) | ||
+ | |||
+ | *example*: | ||
+ | If you want to reset the joint settings, send command below. | ||
+ | |||
+ | ``` | ||
+ | >js | ||
+ | ``` | ||
+ | |||
+ | ### >HO (Set a Home Value) | ||
+ | |||
+ | |Args | ||
+ | |: | ||
+ | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2 bytes| | ||
+ | |VALUE | ||
+ | |||
+ | *example*: | ||
+ | If you want to apply **100** as home value to device **0**, send command below. | ||
+ | |||
+ | ``` | ||
+ | > | ||
+ | ``` | ||
+ | |||
+ | ### >MA (Set a Max Value) | ||
+ | |||
+ | |Args | ||
+ | |: | ||
+ | |DEVICE_ID|Set a device id. | ||
+ | |VALUE | ||
+ | |||
+ | *example*: | ||
+ | If you want to apply **100** as max value to device **0**, send command below. | ||
+ | |||
+ | ``` | ||
+ | > | ||
+ | ``` | ||
+ | |||
+ | ### >MI (Set a Min Value) | ||
+ | |||
+ | |Args | ||
+ | |: | ||
+ | |DEVICE_ID|Set a device id. | ||
+ | |VALUE | ||
+ | |||
+ | *example*: | ||
+ | If you want to apply **-1** as min value to device **10**, send command below. | ||
+ | |||
+ | ``` | ||
+ | > | ||
+ | ``` | ||
+ | |||
+ | ## Group of Getter Command | ||
+ | ### <JS (Dump the Joint Settings) | ||
+ | |||
+ | *example*: | ||
+ | If you want to dump the joint settings, send command below. | ||
+ | |||
+ | ``` | ||
+ | <js | ||
+ | ``` | ||
+ | |||
+ | At that time, outputting result like json below. | ||
+ | |||
+ | ``` | ||
+ | [ | ||
+ | { | ||
+ | " | ||
+ | " | ||
+ | " | ||
+ | " | ||
+ | }, | ||
+ | ... | ||
+ | ] | ||
+ | ``` | ||
+ | |||
+ | ### <MO (Dump a Motion) | ||
+ | |||
+ | |Args|Roles | ||
+ | |: | ||
+ | |SLOT|Set to read slot.|0 | ||
+ | |||
+ | *example*: | ||
+ | If you want to dump slot **0**, send command below. | ||
+ | |||
+ | ``` | ||
+ | <mo00 | ||
+ | ``` | ||
+ | |||
+ | At that time, outputting result like " | ||
+ | However, property " | ||
+ | |||
+ | ### <VI (Dump the Version Information) | ||
+ | |||
+ | *example*: | ||
+ | If you want to dump the version information, | ||
+ | |||
+ | ``` | ||
+ | <vi | ||
+ | ``` | ||
+ | |||
+ | At that time, outputting result like json below. | ||
+ | |||
+ | ``` | ||
+ | { | ||
+ | " | ||
+ | " | ||
+ | " | ||
+ | } | ||
+ | ``` | ||
</ | </ |