Propulsion Microcontroller API

This page contains the commands used when communicating to and from the Wireless Communication Modules.

More details about the communication protocol can be found via the API Documentation Homepage.

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Command 0x10 – Reset Motor Controller

Request Message:

• Payload Size: 1 byte (null)

Byte	Description	Valid Range
0	Null Byte	0x00

Response Message:

• Payload Size: 1 byte

Byte	Description	Valid Range
0	Null Byte	0x00

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Command 0x11 – Set Motor Controller Configuration

Request Message:

• Payload Size: 2 bytes

Byte	Title	Description	Valid Range
0	Register	Parameter being changed	See Qik 2s12v10 User Guide parameter numbers
1	Value	New configuration value	See Qik 2s12v10 User Guide parameter allowed values

Response Message:

• Payload Size: 2 bytes

Byte	Title	Description	Valid Range
0	Register	Parameter that was changed	See Qik 2s12v10 User Guide
1	Value	New configuration value	Varies

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Command 0x12 – Get Motor Controller Configuration

Request Message:

• Payload Size: 1 byte

Byte	Title	Description	Valid Range
0	Register	Which parameter to read	See Qik 2s12v10 User Guide

Response Message:

• Payload Size: 2 bytes

Byte	Title	Description	Valid Range
0	Register	Which parameter was read	See Qik 2s12v10 User Guide
1	Value	Parameter configuration	Varies

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Command 0x13 – Set Motor Speeds

Request Message:

• Payload Size: 4 bytes
• Used to set the speed of both motors simultaneously

Byte	Title	Description	Valid Range
0 to 1	M0 Speed	Speed to set M0	signed 16 bit, -127 to 127
2 to 3	M1 Speed	Speed to set M1	signed 16 bit, -127 to 127

Response Message:

• Payload Size: 4 bytes
• The response from the microcontroller to a set motor speed is to reply with the new motor speed to confirm the set was successful

Byte	Title	Description	Valid Range
0 to 1	M0 Speed	New M0 Speed	signed 16 bit, -255 to 255
2 to 3	M1 Speed	New M1 Speed	signed 16 bit, -255 to 255

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Command 0x14 - Get Motor Currents

Request Message:

• Payload Size: 1 byte

Byte	Description	Valid Range
0	Null Byte	0x00

Response Message:

• Payload size: 4 bytes
• Reply from the microcontroller contains the current of both motors in milliamps.

Byte	Title	Description	Valid Range
0 to 1	M0 Current	Current in milliamps	signed 16 bit, > 0
2 to 3	M1 Current	Current in milliamps	signed 16 bit, > 0

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Command 0x15 – Get Errors

Request Message:

• Payload Size: 1 byte (null)
• Note: The act of reading the errors will clear them from the device.

Byte	Description	Valid Range
0	Null Byte	0x00

Response Message:

• Payload Size: 1 byte
• See Qik 2s12v10 User Guide -> Get Error Byte for details

The table below explains the individual bit meanings of the single byte of the payload.

Bit	Description	Valid Range
7 (MSB)	Timeout	0 or 1
6	Format Error	0 or 1
5	CRC Error	0 or 1
4	Serial Hardware Error	0 or 1
3	Motor 1 Over Current	0 or 1
2	Motor 0 Over Current	0 or 1
1	Motor 1 Fault	0 or 1
0 (LSB)	Motor 0 Fault	0 or 1

Command 0x1F – General Error Message

Request Message:

• Not applicable. A general error message is sent when a request has not been understood by the module (such as a CRC16 failure) or some other error occurred preventing a normal reply to a message.

Response Message:

• Payload Size: 1 byte

The table below explains the individual bit meanings of the single byte of the payload.

Value	Description
0x01	CRC Error
0x02	Speed Command out of Range
0x03	Command Not Available