Pololu 0J5840, Руководство пользователя

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Command
byte
Command
Data
bytes
Response
bytes
Description
0x81 signature 0 6
Sends the slave name and code version, e.g.
“3pi1.0”. This command also sets motor
speeds to 0 and stops PID line following,
if active, so it is useful as an initialization
command.
0x86 raw sensors 0 10
Reads all five IR sensors and sends the raw
values as a sequence of two-byte ints, in the
range 0-2000
0x87 calibrated sensors 0 10
Reads all five IR sensors and sends
calibrated values as a sequence of two-byte
ints, in the range 0-1000
0xB0 trimpot 0 2
Sends the voltage output of the trimpot as a
two-byte int, in the range 0-1023
0xB1 battery millivolts 0 2
Sends the battery voltage of the 3pi in mV, as
a two-byte int
0xB3 play music 2-101 0
Plays a tune specified by a string of musical
commands. The first data byte specifies the
length of the following string (max length
100), so that the slave program knows how
many more data bytes to read. See the
play()
command in Section 3 of the Pololu AVR
Library Command Reference for a
description of the musical command format.
0xB4 calibrate 0 10
Performs one round of calibration on the
sensors, reads all five IR sensors, and sends
calibrated values as a sequence of two-byte
ints, in the range 0-1000. This should be
called multiple times, as the robot moves
over a range from white to black.
0xB5 reset calibration 0 0
Resets the calibration. This should always be
used when connecting to a slave, in case
the master reset without a slave reset, for
example in case of a power glitch.
Pololu 3pi Robot User’s Guide © 2001–2019 Pololu Corporation
10. Expansion Information Page 64 of 85