User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
82
145 - Set Stream Properties
Set Stream Properties.
Index:
USB 0
RS232 UART0 1
TTL UART1 2
TTL UART2 3
TTL UART3 4
Type:
MCL 0
PacketSerial 1
Disabled 2
(Note: CAN will be active if UART0 is disabled, I2C will be active if UART1 is disabled)
Rate: The bps setting for the stream
Timeout: the timeout in milliseconds before the stream is considered inactive.
Send: [Address, 145, Index(byte), Type(byte), Rate(4 bytes), timeout(4 bytes), CRC(2
bytes)]
Receive: [0xFF]
146 - Get Stream Properties
Read all stream properties. Returns the stream CNT followed by all stream properties.
Send: [Address, 146]
Receive: [streamcnt, type1(byte), rate1(4 bytes), timeout1(4 bytes),..., typeN, rateN,
timeoutN, CRC(2 bytes)]
147 - Get Signal Values
Get all signal values for all inputs
Count: The intput pin count on the unit.
Command: The value of the currently selected mode(see command 143 mode).
Position: The current signal position.
Percent: The current signal percent.
Speed: The current instant speed.
SpeedS: The current average speed.
Send: [Address, 147]
Receive: [Count(byte), Command1(4 bytes), Position1(4 bytes), Percent1 (4 bytes), Speed1 (4
bytes), SpeedS1 (4 bytes),..., CommandN, PositionN, PercentN, SpeedN, SpeedSN, CRC(2
bytes)]
148 - Set PWM Mode
Set PWM Drive mode. Locked Antiphase(0) or Sign Magnitude(1).
Send: [Address, 148, Mode, CRC(2 bytes)]
Receive: [0xFF]