F
Set Target Profile
Command:
F,
target position motor left
(32bits),
tar-
get position motor right (32bits)
Answer:
f
Effect:
Set a position to be reached. The move will be performed
with three phase, a acceleration to reach the maximum
speed, a constant speed and a deceleration phase before the
finish position. The unit is the pulse, each one corresponds
to 0,047 mm (with encoder resolution x4 (default)).
Syntax:
F,l1000,l1000
G
Get a measure from the US peripheral
Command:
G, US number (8bits)
Answer:
g, EchoNbr, Dist1, Ampl1,Time1,Dist2,Ampl2, Time2,
Dist3, Ampl3, Time3, Dist4, Ampl4, Time4, Dist5, Ampl5,
Time5, Noise
Effect:
Retrieve US measures from a given sensor number. The
sensor number is supposed to be 1 to 5.
Syntax:
G,3
Example:
g,1,27,2900,100000,0,0,0,0,0,0,0,0,0,0,0,0,1800
H
Configure the PID controler
Command:
H, T (16bits), Kp (16bits), Ki (16bits), Kd (16bits)
Answer:
h
Effect:
Set the proportional (Kp), the integral (Ki) and the deriva-
tive (Kd) parameters of the T regulator where T can be 0
(speed controler) or 1 (position controler).
Syntax:
H,d1,d200,d5,d10
I
Set position
Command:
I, position motor left (32bits), position motor right (32bits)
Answer:
i
Effect:
Set the 32 bit position counter of the two motors. The unit is
the pulse, each one corresponds to 0,047 mm (with encoder
resolution x4 (default)).
Syntax:
I,l1000,l1000
Khepera III manual ver 2.2
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