Propulsion Microcontroller API

Usage of this Page

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.

Command 0x10 – Reset Motor Controller

Request Message:

• Payload Size: 1 byte (null)

Response Message:

• Payload Size: 1 byte

Command 0x11 – Set Motor Controller Configuration

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

Command 0x12 – Get Motor Controller Configuration

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

Command 0x13 – Set Motor Speeds

Request Message:

• Payload Size: 9 bytes
• Used to set the speed of both motors simultaneously

Response Message:

• The response from the microcontroller to a set motor speed is to reply with the new motor speed to confirm the set was successful
• Payload Size: 9 bytes

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

Command 0x14 - Get Motor Currents

Request Message:

• Used to request the current being consumed by both motors.
• Payload Size: 1 byte (null)

Response Message:

• Reply from the microcontroller contains the current of both motors in milliamps.
• Payload size: 9 bytes

|:---:|:---:|:---:| 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