Version 4.4.1

What's Changed

• Fix overflow in storing motor power value by @WillB97 in #11

Full Changelog: 4.4...4.4.1

Version 4.4

A full rewrite of the motor board firmware using a text serial interface.

Additional changes:

• All commands now have a response
• Switches to a standard baudrate of 115200bps
• Added reset command
• Added commands to read back motor setpoints and current draws
• Added status command to detect when output drivers report faults

Serial Commands

Commands can be sent to the board via the serial or USB serial interface. Each command is its own line and is terminated with a new line.

Action	Description	Command	Parameter Description	Return	Return Parameters
Identify	Get the board type and version	*IDN?	-	Student Robotics:MBv4B:<asset tag>:<software version>	<asset tag> <software version>
Status	Get board status	*STATUS?	-	<output faults>:<input voltage>	<output faults> - a comma separated list of 1/0s indicating if an output driver has reported a fault e.g. 1,0 <input voltage> - voltage at 12V input in mV
Reset	Reset board to safe startup state - Turn off all outputs - Reset the lights	*RESET	-	ACK	-
Set motor power	Sets the speed of one of the motors	MOT:<n>:SET:<value>	<n> motor number, int, 0-1 <value> motor power, int, -1000 to 1000	ACK	-
Read motor power	Gets the current speed setting of the motor	MOT:<n>:GET?	<n> motor number, int, 0-1	<enabled>:<value>	<enabled> motor enabled, int, 0-1 <value> motor power, int, -1000 to 1000"
Disable motor output	Puts the motor into high impedance (equivalent to current coast)	MOT:<n>:DISABLE	<n> motor number, int, 0-1	ACK	-
Read motor current	Read the current power draw of the motor	MOT:<n>:I?	<n> motor number, int, 0-1	<current>	<current> - current, int, measured in mA
Enter bootloader	Enter the serial bootloader to load new firmware	*SYS:BOOTLOADER	-	ACK	-