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specifications:protocol [2015/10/18 04:35] Guvalif |
specifications:protocol [2017/01/05 01:43] Guvalif |
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< | < | ||
Protocol | Protocol | ||
- | ======== | + | =============================================================================== |
## Basic Specification | ## Basic Specification | ||
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No differences the command line made of upper case or lower case. | No differences the command line made of upper case or lower case. | ||
+ | Required baud-rate is **2, | ||
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### $AN (Apply Native Value) | ### $AN (Apply Native Value) | ||
- | |Args | + | |Args |
- | |: | + | |: |
- | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2byte| | + | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2 bytes| |
- | |VALUE | + | |VALUE |
*example*: | *example*: | ||
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### $AD (Apply Diff Value) | ### $AD (Apply Diff Value) | ||
- | |Args | + | |Args |
- | |: | + | |: |
- | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2byte| | + | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2 bytes| |
- | |VALUE | + | |VALUE |
*example*: | *example*: | ||
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**Attention!** | **Attention!** | ||
- | You could also use " | + | You could also use " |
- | |Args|Roles | + | |Args|Roles |
- | |: | + | |: |
- | |SLOT|Set to read slot.|0 | + | |SLOT|Set to read slot.|0 |
*example*: | *example*: | ||
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**Attention!** | **Attention!** | ||
- | You could also use " | + | You could also use " |
*example*: | *example*: | ||
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### #PU (Push a Function) | ### #PU (Push a Function) | ||
- | |Args |Roles | + | |Args |Roles |
- | |: | + | |: |
- | |SLOT |Set to read slot. |0 |89 |0 padding,hex,2byte| | + | |SLOT |Set to read slot. |0 |89 |0 padding,hex,2 bytes| |
- | |LOOP_COUNT|Set number of play.|0 | + | |LOOP_COUNT|Set number of play.|0 |
*example*: | *example*: | ||
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## Group of Setter Command | ## Group of Setter Command | ||
- | ### >IN (Install | + | ### >MH (Set a Motion |
- | **Attention!** | + | |Args |Roles |
- | This is **[[deprecated]]**. Obsolescent at firmware version | + | |: |
- | Please using **>MH** and **>MF** that are described | + | |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. | ||
- | |Args |Roles | + | *example*: |
- | |: | + | Please get more details at "> |
- | |SLOT |Set to write slot. | + | |
- | |NAME |Set a motion name. | + | |
- | |FUNC |Set a function. (*1) | + | |
- | |ARG0 |Set a function' | + | |
- | |ARG1 |Set a function' | + | |
- | |FRAME_LENGTH | + | |
- | |TRANSITION_TIME_MS|Set a transition time (msec).|32 | + | |
- | |VALUE[DEVICE_ID] | + | |
- | **(*1) Type of function and role of args are described below.** | + | ### > |
- | |" | + | |Args |
- | |: | + | |:-----------------|: |
- | |0 |--- | + | |SLOT |Set to write slot. |
- | |1 | + | |FRAME_ID |
- | |2 | + | |TRANSITION_TIME_MS|Set a transition time (msec).|32 |
+ | |VALUE[DEVICE_ID] | ||
- | **(*2) Sum of devices is 24 and all are servo motor.** | + | **(*1) Sum of devices is 24 and the all are servo motors in current implementation.** |
- | *example*: | + | *example* |
- | Let install a motion below. | + | Introduce how to install a motion below. |
|Args |Values| | |Args |Values| | ||
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|SLOT |0 | | |SLOT |0 | | ||
|NAME |Test | | |NAME |Test | | ||
- | |FUNC | + | |USE_LOOP |
- | |ARG0 | + | |LOOP_BEGIN |
- | |ARG1 | + | |LOOP_END |
+ | |LOOP_COUNT | ||
+ | |USE_JUMP | ||
+ | |JUMP_SLOT | ||
+ | |USE_EXTRA | ||
|FRAME_LENGTH | |FRAME_LENGTH | ||
+ | |||
+ | |Args |Values| | ||
+ | |: | ||
|TRANSITION_TIME_MS|100 | |TRANSITION_TIME_MS|100 | ||
- | |OUTPUT[EVEN] | + | |VALUE[EVEN] |
- | |OUTPUT[ODD] | + | |VALUE[ODD] |-1 | |
- | Please send command below. (There are no CR, LF, or CRLF actually.) | + | Please send command below. (Do not need to insert |
``` | ``` | ||
- | >in | + | >MH00 |
- | 00Test | + | Test |
+ | 1 | ||
+ | 00 | ||
+ | 01 | ||
+ | 03 | ||
+ | 1 | ||
+ | 32 | ||
+ | 0 | ||
+ | 02 | ||
+ | |||
+ | >MF | ||
+ | 00 | ||
+ | 00 | ||
0064 | 0064 | ||
0000ffff0000ffff0000ffff0000ffff | 0000ffff0000ffff0000ffff0000ffff | ||
0000ffff0000ffff0000ffff0000ffff | 0000ffff0000ffff0000ffff0000ffff | ||
0000ffff0000ffff0000ffff0000ffff | 0000ffff0000ffff0000ffff0000ffff | ||
+ | |||
+ | >MF | ||
+ | 00 | ||
+ | 01 | ||
0064 | 0064 | ||
0000ffff0000ffff0000ffff0000ffff | 0000ffff0000ffff0000ffff0000ffff | ||
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``` | ``` | ||
- | ### >MH (Set a Motion Header) | + | If you are interested deeply, please see also |
- | + | [the implementation on the Control Server](https://github.com/ | |
- | |Args |Roles | + | |
- | |:-----------|: | + | |
- | |SLOT |Set to write slot. | + | |
- | |NAME |Set a motion name. |--- |--- |white space padding,20byte| | + | |
- | |FUNC |Set a function. (*1) | + | |
- | |ARG0 |Set a function' | + | |
- | |ARG1 |Set a function' | + | |
- | |FRAME_LENGTH|Set a frame length | + | |
- | + | ||
- | Please get more detail 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] | + | |
- | + | ||
- | Please get more detail at "> | + | |
### >JS (Reset the Joint Settings) | ### >JS (Reset the Joint Settings) | ||
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### >HO (Set a Home Value) | ### >HO (Set a Home Value) | ||
- | |Args | + | |Args |
- | |: | + | |: |
- | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2byte| | + | |DEVICE_ID|Set a device id. |0 |23 |0 padding,hex,2 bytes| |
- | |VALUE | + | |VALUE |
*example*: | *example*: | ||
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### >MA (Set a Max Value) | ### >MA (Set a Max Value) | ||
- | |Args | + | |Args |
- | |: | + | |: |
- | |DEVICE_ID|Set a device id. | + | |DEVICE_ID|Set a device id. |
- | |VALUE | + | |VALUE |
*example*: | *example*: | ||
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### >MI (Set a Min Value) | ### >MI (Set a Min Value) | ||
- | |Args | + | |Args |
- | |: | + | |: |
- | |DEVICE_ID|Set a device id. | + | |DEVICE_ID|Set a device id. |
- | |VALUE | + | |VALUE |
*example*: | *example*: | ||
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``` | ``` | ||
- | { | + | [ |
- | " | + | { |
- | { | + | "@device": < |
- | "joint": < | + | "max": < |
- | "MAX": < | + | "min": < |
- | "MIN": < | + | "home": < |
- | "HOME": < | + | }, |
- | }, | + | ... |
- | ... | + | ] |
- | ] | + | |
- | } | + | |
``` | ``` | ||
### <MO (Dump a Motion) | ### <MO (Dump a Motion) | ||
- | |Args|Roles | + | |Args|Roles |
- | |: | + | |: |
- | |SLOT|Set to read slot.|0 | + | |SLOT|Set to read slot.|0 |
*example*: | *example*: | ||
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``` | ``` | ||
- | At that time, outputting result like " | + | At that time, outputting result like " |
- | However, property " | + | However, property " |
### <VI (Dump the Version Information) | ### <VI (Dump the Version Information) | ||
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``` | ``` | ||
{ | { | ||
- | " | + | |
- | " | + | " |
- | " | + | " |
} | } | ||
``` | ``` | ||
</ | </ |