Data Sheet

32-bit write

command MSbs data 1 data 2 data 3 data 4

A 32-bit write command has five bytes of information following the command byte. The first of these

contains the most-significant bits (MSbs) for the four data bytes that follow: bit 0 is the MSb for the first

data byte and bit 3 is the MSb for the fourth data byte. The four data bytes contain the 32-bit value in

little-endian order (starting with the least-significant byte), but with the most-significant bit of each byte

cleared.

Example: Set target position [https://www.pololu.com/docs/0J71/8#cmd-set-target-position] to

1,234,567,890

command MSbs data 1 data 2 data 3 data 4

0xE0 0x0A 0x52 0x02 0x16 0x49

Write value: 1,234,567,890 = 0100 1001 1001 0110 0000 0010 1101 0010

• MSbs: 0000 1010 = 0x0A

• data 1: 0101 0010 = 0x52

• data 2: 0000 0010 = 0x02

• data 3: 0001 0110 = 0x16

• data 4: 0100 1001 = 0x49

Block read

command offset length → data 1 … data length

A block read command reads a block of data from the Tic. The offset byte specifies the offset within

the data that the response should start at, and the length byte specifies how many bytes of data the

response should include. The length must be between 1 and 15. Any multi-byte values contained in

the response are in little-endian order (starting with the least-significant byte).

Example: Get variable [https://www.pololu.com/docs/0J71/8#cmd-get-variable] “target position”

(32 bits)

9. Serial command encoding Page 136 of 150