{"id":1344,"date":"2018-06-28T15:17:42","date_gmt":"2018-06-28T06:17:42","guid":{"rendered":"http:\/\/robonoid.bluecomtech.com\/?page_id=1344"},"modified":"2018-06-28T15:17:43","modified_gmt":"2018-06-28T06:17:43","slug":"specifications-protocol","status":"publish","type":"page","link":"http:\/\/robonoid.bluecomtech.com\/en_US\/specifications-protocol","title":{"rendered":"Specifications - Protocol"},"content":{"rendered":"

Basic Specification<\/h2>\n

In sending a command, firstly send header that defined as 3 characters. Secondly formatting and send each argument.<\/p>\n

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.)<\/p>\n

No differences the command line made of upper case or lower case. Required baud-rate is 2,000,000<\/strong>.<\/p>\n

Group of Controller Command<\/h2>\n

$AN (Apply Native Value)<\/h3>\n\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
DEVICE_ID<\/td>\nSet a device id.<\/td>\n0<\/td>\n23<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
VALUE<\/td>\nSet to apply native value.<\/td>\n-2048<\/td>\n2047<\/td>\n0 padding\uff0chex\uff0c3 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

example<\/em>:
\nIf you want to apply 1000<\/strong> to device 10<\/strong>, send command below.<\/p>\n

<\/code><\/pre>\n
$AD (Apply Diff Value)<\/h3>\n\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
DEVICE_ID<\/td>\nSet a device id.<\/td>\n0<\/td>\n23<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
VALUE<\/td>\nSet to apply diff value.<\/td>\n-2048<\/td>\n2047<\/td>\n0 padding\uff0chex\uff0c3 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
example<\/em>:
\nIf you want to apply home value – 100<\/strong> to device 4<\/strong>, send command below.<\/p>\n
<\/code><\/pre>\n
$PM (Play a Motion)<\/h3>\n
Attention!<\/strong>
\nYou could also use “$MP”, but this is deprecated<\/strong>.<\/p>\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
SLOT<\/td>\nSet to read slot.<\/td>\n0<\/td>\n89<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
example<\/em>:
\nIf you want to play slot 4<\/strong>, send command below. See also…<\/a><\/p>\n
<\/code><\/pre>\n
$SM (Stop a Motion)<\/h3>\n
Attention!<\/strong>
\nYou could also use “$MS”, but this is deprecated<\/strong>.<\/p>\n
example<\/em>:
\nIf you want to stop a motion, send command below.<\/p>\n
<\/code><\/pre>\n
$HP (Apply Home Position)<\/h3>\n
example<\/em>:
\nIf you want to apply home position, send command below.<\/p>\n
<\/code><\/pre>\n
Group of Interpreter Command<\/h2>\n
#PU (Push a Function)<\/h3>\n\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
SLOT<\/td>\nSet to read slot.<\/td>\n0<\/td>\n89<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
LOOP_COUNT<\/td>\nSet number of play.<\/td>\n0<\/td>\n255<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
example<\/em>:
\nIf you want to push function that plays slot 10<\/strong> three<\/strong> times, send command below.<\/p>\n
<\/code><\/pre>\n
#PO (Pop a Function)<\/h3>\n
example<\/em>:
\nIf you want to pop a function, send command below.<\/p>\n
<\/code><\/pre>\n
#RI (Reset the Interpreter)<\/h3>\n
example<\/em>:
\nIf you want to reset the interpreter, send command below.<\/p>\n
<\/code><\/pre>\n
Group of Setter Command<\/h2>\n
>MH (Set a Motion Header)<\/h3>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
SLOT<\/td>\nSet to write slot.<\/td>\n0<\/td>\n89<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
NAME<\/td>\nSet a motion name.<\/td>\n—<\/td>\n—<\/td>\nWhite space padding\uff0c20 bytes<\/td>\n<\/tr>\n
USE_LOOP<\/td>\nUse loop function or not.<\/td>\n0<\/td>\n1<\/td>\nTrue (1) or false (0), 1 byte<\/td>\n<\/tr>\n
LOOP_BEGIN<\/td>\nSet a loop beginning frame.<\/td>\n0<\/td>\n255<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
LOOP_END<\/td>\nSet a loop ending frame.<\/td>\n0<\/td>\n255<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
LOOP_COUNT<\/td>\nSet a loop count. (255 as infinity.)<\/td>\n0<\/td>\n255<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
USE_JUMP<\/td>\nUse jump function or not.<\/td>\n0<\/td>\n1<\/td>\nTrue (1) or false (0), 1 byte<\/td>\n<\/tr>\n
JUMP_SLOT<\/td>\nJump to the slot after stopped the motion.<\/td>\n0<\/td>\n255<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
USE_EXTRA<\/td>\nUse extra function or not. (WIP)<\/td>\n0<\/td>\n1<\/td>\nTrue (1) or false (0), 1 byte<\/td>\n<\/tr>\n
FRAME_LENGTH<\/td>\nSet a frame length.<\/td>\n1<\/td>\n20<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
example<\/em>:
\nPlease get more details at “>MF” section.<\/p>\n
>MF (Set a Motion Frame)<\/h3>\n\n\n\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
SLOT<\/td>\nSet to write slot.<\/td>\n0<\/td>\n89<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
FRAME_ID<\/td>\nSet a frame id.<\/td>\n1<\/td>\n20<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
TRANSITION_TIME_MS<\/td>\nSet a transition time (msec).<\/td>\n32<\/td>\n65535<\/td>\n0 padding\uff0chex\uff0c4 bytes<\/td>\n<\/tr>\n
VALUE[DEVICE_ID]<\/td>\nSet to apply value. (*1)<\/td>\n-32768<\/td>\n32767<\/td>\n0 padding\uff0chex\uff0c4 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
(*1) Sum of devices is 24 and the all are servo motors in current implementation.<\/strong><\/p>\n
example<\/em>
\nIntroduce how to install a motion below.<\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
Args<\/th>\nValues<\/th>\n<\/tr>\n<\/thead>\n
SLOT<\/td>\n0<\/td>\n<\/tr>\n
NAME<\/td>\nTest<\/td>\n<\/tr>\n
USE_LOOP<\/td>\nTrue<\/td>\n<\/tr>\n
LOOP_BEGIN<\/td>\n0<\/td>\n<\/tr>\n
LOOP_END<\/td>\n1<\/td>\n<\/tr>\n
LOOP_COUNT<\/td>\n3<\/td>\n<\/tr>\n
USE_JUMP<\/td>\nTrue<\/td>\n<\/tr>\n
JUMP_SLOT<\/td>\n50<\/td>\n<\/tr>\n
USE_EXTRA<\/td>\nFalse<\/td>\n<\/tr>\n
FRAME_LENGTH<\/td>\n2<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n\n\n\n\n\n\n
Args<\/th>\nValues<\/th>\n<\/tr>\n<\/thead>\n
TRANSITION_TIME_MS<\/td>\n100<\/td>\n<\/tr>\n
VALUE[EVEN]<\/td>\n0<\/td>\n<\/tr>\n
VALUE[ODD]<\/td>\n-1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
Please send command below. (Do not need to insert CR, LF, or CRLF actually.)<\/p>\n
<\/code><\/pre>\n
If you are interested deeply, please see also the implementation on the Control Server<\/a>.<\/p>\n
>JS (Reset the Joint Settings)<\/h3>\n
example<\/em>:
\nIf you want to reset the joint settings, send command below.<\/p>\n
<\/code><\/pre>\n
>HO (Set a Home Value)<\/h3>\n\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
DEVICE_ID<\/td>\nSet a device id.<\/td>\n0<\/td>\n23<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
VALUE<\/td>\nSet to apply home value.<\/td>\n-2048<\/td>\n2047<\/td>\n0 padding\uff0chex\uff0c3 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
example<\/em>:
\nIf you want to apply 100<\/strong> as home value to device 0<\/strong>, send command below.<\/p>\n
<\/code><\/pre>\n
>MA (Set a Max Value)<\/h3>\n\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
DEVICE_ID<\/td>\nSet a device id.<\/td>\n0<\/td>\n23<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
VALUE<\/td>\nSet to apply max value.<\/td>\n-2048<\/td>\n2047<\/td>\n0 padding\uff0chex\uff0c3 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
example<\/em>:
\nIf you want to apply 100<\/strong> as max value to device 0<\/strong>, send command below.<\/p>\n
<\/code><\/pre>\n
>MI (Set a Min Value)<\/h3>\n\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
DEVICE_ID<\/td>\nSet a device id.<\/td>\n0<\/td>\n23<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n
VALUE<\/td>\nSet to apply min value.<\/td>\n-2048<\/td>\n2047<\/td>\n0 padding\uff0chex\uff0c3 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
example<\/em>:
\nIf you want to apply -1<\/strong> as min value to device 10<\/strong>, send command below.<\/p>\n
<\/code><\/pre>\n
Group of Getter Command<\/h2>\n
<JS (Dump the Joint Settings)<\/h3>\n
example<\/em>:
\nIf you want to dump the joint settings, send command below.<\/p>\n
<\/code><\/pre>\n
At that time, outputting result like json below.<\/p>\n
<\/code><\/pre>\n
<MO (Dump a Motion)<\/h3>\n\n\n\n\n\n
Args<\/th>\nRoles<\/th>\nMin (dec)<\/th>\nMax (dec)<\/th>\nFormat<\/th>\n<\/tr>\n<\/thead>\n
SLOT<\/td>\nSet to read slot.<\/td>\n0<\/td>\n89<\/td>\n0 padding\uff0chex\uff0c2 bytes<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
example<\/em>:
\nIf you want to dump slot 0<\/strong>, send command below.<\/p>\n
<\/code><\/pre>\n
At that time, outputting result like “motion.json”. (See also…<\/a>) However, property “device”‘s type is not string<\/strong> but integer<\/strong> defined as device id in “device_map.json<\/a>“.<\/p>\n
<VI (Dump the Version Information)<\/h3>\n
example<\/em>:
\nIf you want to dump the version information, send command below.<\/p>\n
<\/code><\/pre>\n
At that time, outputting result like json below.<\/p>\n
<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"
Basic Specification<\/h2>\n
In sending a command, firstly send header that defined as 3 characters. Secondly formatting and send each argument.<\/p>\n
Before sending a command, client must convert binary-ex…<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"spay_email":""},"jetpack_sharing_enabled":true,"jetpack_shortlink":"https:\/\/wp.me\/P9Nvgc-lG","_links":{"self":[{"href":"http:\/\/robonoid.bluecomtech.com\/en_US\/wp-json\/wp\/v2\/pages\/1344"}],"collection":[{"href":"http:\/\/robonoid.bluecomtech.com\/en_US\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"http:\/\/robonoid.bluecomtech.com\/en_US\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"http:\/\/robonoid.bluecomtech.com\/en_US\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/robonoid.bluecomtech.com\/en_US\/wp-json\/wp\/v2\/comments?post=1344"}],"version-history":[{"count":1,"href":"http:\/\/robonoid.bluecomtech.com\/en_US\/wp-json\/wp\/v2\/pages\/1344\/revisions"}],"predecessor-version":[{"id":1345,"href":"http:\/\/robonoid.bluecomtech.com\/en_US\/wp-json\/wp\/v2\/pages\/1344\/revisions\/1345"}],"wp:attachment":[{"href":"http:\/\/robonoid.bluecomtech.com\/en_US\/wp-json\/wp\/v2\/media?parent=1344"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}