Koala 2.5 User Manual Rev 1.1
38
A
Configure the auto monitoring mode
Command:
A, Auto_Mask
↵
↵↵
↵
Answer:
a \r
Function:
Configures the auto monitoring mode. Enables a peripheral to
return automatically its value when refreshed. The values are
returned with the same format as the protocol below.
The Auto_Mask value must be sent in decimal value, but will
be processed as a binary value. If set as 0, the auto mode will
be disabled (default):
-
Bit 0:
US sensor
-
Bit 1:
Motor Speed
-
Bit 2:
Motor Position
-
Bit 3:
Motor Current
-
Bit 4:
Accelerometer value
-
Bit 5:
Gyroscope value
-
Bit 6:
GPS data
-
Bit 7:
GPS NEMA Data (will return all GPS raw data)
-
Bit 8:
Magnetometer value
Example:
A,6
↵
a\r
B
Read Firmware Version
Command:
B
↵
↵↵
↵
Answer:
b,Version-Revision \r
Function:
Reads the version and revision of the Koala firmware
Example:
B
↵
b,A-02\r
C
Configuration
Command:
C, US_Mask, IO_Dir
↵
↵↵
↵
Answer:
c \r
Function:
Configures Koala parameters:
US_Mask:
US sensor active. Bit 0 =
LEFT_Rear, Bit 1 = LEFT_FRONT, etc…
Default: 511= all US active.
IO_Dir:
Direction of the four IO (0..3). Each
IO is configure with two bits (IO0 = bit0 & 1,
IO1 = bit2&3,…). 00 = output, 01 = input, 10
= PWM servo (50Hz).
Default: 0 = all output
Example:
C,28,204
↵
c\r
Содержание Koala 2.5
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