Changes between Version 27 and Version 28 of DevelopGuide

Timestamp:

Oct 3, 2008, 6:10:10 PM (16 years ago)

Author:

Frédéric

Comment:

--

DevelopGuide

@@ -38 +38 @@
 The head uses a simple ascii serial protocol; the serial line uses standard settings: 9600 8N1 (9600 bauds, 8 bits data, no parity, 1 stop bit). The head waits for incoming commands, and send response to them. The 2 axis are identical, and uses the same commands. They both wait for incoming commands; depending of the first value (see below), the command will be sent to one or the other axis.
 
-A commands always starts with ':', and ends with '\r'. The head response always starts with '=', and also ends with '\r'. As TX/RX lines are wired together, the controller has to first readback its own command, before reading the head response. In the following documentation, the command readback is omitted.
+A commands always starts with ':', and ends with '\r'. The head response always starts with '=', and also ends with '\r'. As TX/RX lines are wired together, the controller has to first readback its own command, before reading the head response. In the following documentation, the command readback is omitted, as the ':', '=' and '\r' chars.
 
 Parameters used in the documentation:
@@ -47 +47 @@
 ||''<axis>''||axis to control||1 or 2||1 ascii digit||1=yaw, 2=pitch axis||
 ||''<pos>''||position||0 to 2²⁴-1||6 ascii digits, hex.||low byte is sent first (A35483 is read 8354A3). When switched on, read value is 800000. Right sens increments axis 1; left sens decrements it. Up sens increments axis 2; down decrements it. A complete turn (360°) increments/decrements by 0E6600 (so, the axis can make almost 9 turns before the counter overflow)||
+||''<dir>''||axis direction||0 or 1||1 ascii digit||0=increments (up/right), 1=decrements (down/left)||
 
 === Merlin/Orion commands set ===
 
- * Read axis position:
-{{{
- command        response
- :j<axe>        =<pos>
-}}}
+||'''Function'''||'''Command'''||'''Response'''||'''Note'''||
+||Read axis position||j<axis>||<pos>|||||
+||Read axis status||f<axis>||<s1><s2><s3>||||
+||Stop moving||L<axis>||||||
+||Init (at switch on)||F<axis>[[BR]]F<axis>[[BR]]a<axis>[[BR]]D<axis>||[[BR]][[BR]]D3620E[[BR]]F90600||||
+||Start moving||L<axis>[[BR]]G<axis>3<dir>[[BR]]I<axis>220000[[BR]]J<axis>||[[BR]][[BR]][[BR]]||220000 seems to be the divider for the speed...||
+||Drive to position||
 
- * Read axis status:
-{{{
- command        response
- :f<axe>        =<s1><s2><s3>
-}}}
-
-Init (at switch on):
-{{{
- command        response
- :F1            =
- :F2            =
- :a1            =D3620E
- :D1            =F90600
- :a2            =D3620E
- :D2            =F90600
- :D2            =F90600
-}}}
-
-Press up button in fast mode:
-{{{
- command        response
- :L2            =
- :G230          =
- :I2220000      =
- :J2            =
-}}}
-
-Release up button in fast mode:
-{{{
- command       response
- :L2            =
- :f2            =503
-}}}
-
-Drive up to xxx position:
-{{{
- todo
-}}}
 
 === Model ===