Reference

Tuning

The Packet Serial tuning commands can be used to initiate a tune without touching the Autotune button. This

is useful for systems where the Kangaroo is physically inaccessible.

DEScribe uses these same commands, and so can be used to initiate a tune remotely without any

programming.

Enter Mode

Enters the desired tune mode. This corresponds to pressing the tune button multiple times to get into the

mode you want.

System Command Format

The system command number is 3. It has one parameter:

Tune Mode

Mode 1 is Teach, 2 is Limit Switches, and 3 is Mechanical Stops.

Set Disabled Channels

Initially all channels are disabled for safety reasons after entering a tune mode.

You must send this bitmask before beginning the tune.

System Command Format

The system command number is 8. It has one parameter:

Disabled Channel Bitmask

0 enables all channels.

Control Open Loop

Sets the open loop power. This can be used to position for a Teach tune.

System Command Format

The system command number is 6. It has one parameter:

Power

The range is -(2^28-1) to 2^28-1.