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Propulsion Microcontroller API
Anthony Randell edited this page Nov 23, 2016
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22 revisions
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.
Request Message:
- Payload Size: 1 byte (null)
Response Message:
- Payload Size: 1 byte
Request Message:
- Payload Size: 14 Bytes
- See Qik 2s12v10 User Guide -> Configuration Parameters for more details
| Byte | Description | Valid Range |
|---|---|---|
| 13 (MSB) | MSB of Set Indicator Word | 0b00000000 to 0b00001111 |
| 12 | LSB of Set Indicator Word | 0b00000000 to 0b11111111 |
| 11 | Device ID | 0 to 127 |
| 10 | PWM Parameter | 0 to 5 |
| 9 | Shut Down Motors on Error | 0 to 7 |
| 8 | Serial Timeout | 0 to 127 |
| 7 | Motor M0 Acceleration | 0 to 127 |
| 6 | Motor M1 Acceleration | 0 to 127 |
| 5 | Motor M0 Brake Duration | 0 to 127 |
| 4 | Motor M1 Brake Duration | 0 to 127 |
| 3 | Motor M0 Current Limit / 2 | 0 to 127 |
| 2 | Motor M1 Current Limit / 2 | 0 to 127 |
| 1 | Motor M0 Current Limit Response | 0 to 127 |
| 0 (LSB) | Motor M1 Current Limit Response | 0 to 127 |
Response Message:
- Payload Size: 13 Bytes
- The reponse contains the configuration as it was just set. This is used to confirm the correct change was made to the parameters
- See Qik 2s12v10 User Guide -> Configuration Parameters for more details
| Byte | Description | Valid Range |
|---|---|---|
| 12 | Reserved for Expansion | 0 |
| 11 | Device ID | 0 to 127 |
| 10 | PWM Parameter | 0 to 5 |
| 9 | Shut Down Motors on Error | 0 to 7 |
| 8 | Serial Timeout | 0 to 127 |
| 7 | Motor M0 Acceleration | 0 to 127 |
| 6 | Motor M1 Acceleration | 0 to 127 |
| 5 | Motor M0 Brake Duration | 0 to 127 |
| 4 | Motor M1 Brake Duration | 0 to 127 |
| 3 | Motor M0 Current Limit / 2 | 0 to 127 |
| 2 | Motor M1 Current Limit / 2 | 0 to 127 |
| 1 | Motor M0 Current Limit Response | 0 to 127 |
| 0 (LSB) | Motor M1 Current Limit Response | 0 to 127 |
Request Message:
- Payload Size: 1 byte (null)
- This command reads the configuration of the motor controller without modifying any of the settings
Response Message:
- Payload Size: 13 bytes
- See Qik 2s12v10 User Guide -> Configuration Parameters for more details
| Byte | Description | Valid Range |
|---|---|---|
| 12 | Reserved for Expansion | 0 |
| 11 | Device ID | 0 to 127 |
| 10 | PWM Parameter | 0 to 5 |
| 9 | Shut Down Motors on Error | 0 to 7 |
| 8 | Serial Timeout | 0 to 127 |
| 7 | Motor M0 Acceleration | 0 to 127 |
| 6 | Motor M1 Acceleration | 0 to 127 |
| 5 | Motor M0 Brake Duration | 0 to 127 |
| 4 | Motor M1 Brake Duration | 0 to 127 |
| 3 | Motor M0 Current Limit / 2 | 0 to 127 |
| 2 | Motor M1 Current Limit / 2 | 0 to 127 |
| 1 | Motor M0 Current Limit Response | 0 to 127 |
| 0 (LSB) | Motor M1 Current Limit Response | 0 to 127 |
Request Message:
- Payload Size: 9 bytes
- Used to set the speed of both motors simultaneously
Response Message:
- Payload Size: 9 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 | Description | Valid Range |
|---|---|---|
| 8 (MSB) | Reserved for Expansion | 0 |
| 7 | M0 Speed (MSB) | Integer -100 to 100 |
| 6 | M0 Speed | Integer -100 to 100 |
| 5 | M0 Speed | Integer -100 to 100 |
| 4 | M0 Speed (LSB) | Integer -100 to 100 |
| 3 | M1 Speed (MSB) | Integer -100 to 100 |
| 2 | M1 Speed | Integer -100 to 100 |
| 1 | M1 Speed | Integer -100 to 100 |
| 0 | M1 Speed (LSB) | Integer -100 to 100 |
Request Message:
- Payload Size: 1 byte (null)
- Used to request the current being consumed by both motors.
Response Message:
- Payload size: 9 bytes
- Reply from the microcontroller contains the current of both motors in milliamps.
| Byte | Description | Valid Range |
|---|---|---|
| 0 | Reserved for Expansion | 0 |
| 1 | M0 Current | Integer > 0 |
| 2 | M0 Current | Integer > 0 |
| 3 | M0 Current | Integer > 0 |
| 4 | M0 Current | Integer > 0 |
| 5 | M1 Current | Integer > 0 |
| 6 | M1 Current | Integer > 0 |
| 7 | M1 Current | Integer > 0 |
| 8 (LSB) | M1 Current | Integer > 0 |
Request Message:
- Payload Size: 1 byte (null)
- Requests the errors currently active on the device.
- Note: The act of reading the errors will clear them from the device.
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 |