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)

Response Message:

• Payload Size: 1 byte

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Command 0x11 – Set Motor Controller Configuration

Request Message:

• Payload Size: 2 bytes

Byte	Description	Valid Range
0	Register to Modify	See Qik 2s12v10 User Guide
1	New Configuration	Varies

Response Message:

• Payload Size: 2 bytes

Byte	Description	Valid Range
0	Register that was Set	See Qik 2s12v10 User Guide
1	New Configuration Value	Varies

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Command 0x12 – Get Motor Controller Configuration

Request Message:

• Payload Size: 1 byte

Byte	Description	Valid Range
0	Register to Read	See Qik 2s12v10 User Guide

Response Message:

• Payload Size: 2 bytes

Byte	Description	Valid Range
0	Register that was Read	See Qik 2s12v10 User Guide
1	Value in Register	Varies

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Command 0x13 – Set Motor Speeds

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

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Command 0x14 - Get Motor Currents

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

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Command 0x15 – Get Errors

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