User Manual

6.d. Script Specifications

The user scripting language available on the Mini Maestros is more powerful than that available on the

Micro Maestro. The differences are summarized in the table below.

Micro Maestro Mini Maestro 12, 18, and 24

Script size: 1KB 8 KB

Stack size: 32 126

Call stack size: 10 126

Number of subroutines: 128 unlimited

Extra commands: PEEK, POKE, PWM, SERIAL_SEND_BYTE

Script size: This is the number of bytes of persistent memory that can be used to store your code. A

bigger script size allows you to store more servo motion frames and to write more complex programs.

Stack size: This is the maximum number of values that can be on the stack at the same time. A bigger

stack allows you to have more variables, do bigger computations, and worry less about whether the

stack will overflow.

Call stack size: This is the maximum subroutine nesting depth (the maximum number of subroutines

that can be called without returning).

Number of subroutines: This is the number of different subroutines you are allowed to have.

The first 128 subroutines defined in your script are special: these subroutines can be started using a

serial or native USB command, and each call from within your script requires only one byte of script

space. The Micro Maestro only supports having up to 128 subroutines. The Mini Maestro 12, 18,

and 24 support having an unlimited number of subroutines, but the subroutines defined after the first

128 can not be started from a serial or native USB command, and each call requires 3 bytes of script

space.

100 delay # initial delay to make sure that the other maestro has time to initialize

begin

127 0 mini_ssc # set servo 0 to position 127, using the mini-SSC command

254 0 mini_ssc # set servo 0 to position 254

repeat

sub mini_ssc

0xFF serial_send_byte serial_send_byte serial_send_byte

return

6. The Maestro Scripting Language Page 89 of 102