Users Guide

CommandTypesandGroups
ServoMoveorGroupMove:
1)ServoMovement.7)ReadAnalogInputs.
2)DiscreteOutput.8)12ServoHexapodGaitSequencer.
3)ByteOutput.9)QueryHexSequencer.
4)QueryMovementStatus.10)GetVersion.
5)QueryPulseWidth.11)GoToBoot.
6)ReadDigitalInputs.12)MiniSSC-IICompatibility.
WiththeexceptionofMiniSSC-IImode,allSSC-32commandsmustendwithacarriage
returncharacter(ASCII13).Multiplecommandsofthesametypecanbeissued
simultaneouslyina.Allofthecommandsinacommandgroupwillbe
executedafterthefinalcarriagereturnisreceived.Commandsofdifferenttypescannot
bemixedinthesamecommandgroup.Inaddition,numericargumentstoallSSC-32
commandsmustbeASCIIstringsofdecimalnumbers,e.g."1234".Somecommands
acceptnegativenumbers,e.g."-5678".Programmingexampleswillbeprovided.ASCII
formatisnotcasesensitive.Useasmanybytesasrequired.Spaces,tabs,andline
feedsareignored.
#<ch>P<pw>S<spd>...#<ch>P<pw>S<spd>T<time><cr>
<ch>=Channelnumberindecimal,0-31.
<pw>=Pulsewidthinmicroseconds,500-2500.
<spd>=MovementspeedinuSpersecondforonechannel.(Optional)
<time>=TimeinmSfortheentiremove,affectsallchannels,65535max.(Optional)
<cr>=Carriagereturncharacter,ASCII13.(Requiredtoinitiateaction)
<esc>=Cancelthecurrentcommand,ASCII27.
ServoMoveExample:"#5P1600S750<cr>"
Theexamplewillmovetheservoonchannel5toposition1600.Itwillmovefromits
currentpositionatarateof750uSperseconduntilitreachesitscommanded
destination.Forabetterunderstandingofthespeedargumentconsiderthat1000uSof
travelwillresultinaround90°ofrotation.Aspeedvalueof100uSpersecondmeansthe
servowilltake10secondstomove90°.Alternatelyaspeedvalueof2000uSpersecond
equatesto500mS(halfasecond)tomove90°.
ServoMoveExample:"#5P1600T1000<cr>"
Theexamplewillmoveservo5toposition1600.Itwilltake1secondtocompletethe
moveregardlessofhowfartheservohastotraveltoreachthedestination.
ServoGroupMoveExample:"#5P1600#10P750T2500<cr>"
Theexamplewillmoveservo5toposition1600andservo10toposition750.Itwilltake
2.5secondstocompletethemove,evenifoneservohasfarthertotravelthananother.
Theservoswillbothstartandstopmovingatthesametime.Thisisaverypowerful
command.BycommandingallofthelegsinawalkingrobotwiththeGroupMoveitis
easytosynchronizecomplexgaits.Thesamesynchronizedmotioncanbenefitthe
controlofaroboticarmaswell.
CommandGroup
CommandFormattingfortheSSC-32