SYSEX_COMMANDS.hpp File Reference

Defines the SysexCommands enum which lists the commands which are available to send a Stepper Controller over Firmata. More...

#include <stdint.h>

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Enumerations
enum	SysexCommands : uint8_t {   ARDUINO_ECHO = 0x00 , SET_SPEED = 0x01 , GET_SPEED = 0x02 , SEND_STEP = 0x03 ,   SEEK_POS = 0x04 , GET_POS = 0x05 , SET_GRIPPER = 0x06 }
	Lists the command IDs and associated requirements which can be sent over Firmata to a Stepper Controller. More...

Detailed Description

Defines the SysexCommands enum which lists the commands which are available to send a Stepper Controller over Firmata.

Enumeration Type Documentation

SysexCommands

enum SysexCommands : uint8_t

Lists the command IDs and associated requirements which can be sent over Firmata to a Stepper Controller.

Enumerator
ARDUINO_ECHO	Respond back with the payload. Parameters payload a byte array of any length Returns payload exactly as it was received
SET_SPEED	Sets the speed of a motor. Parameters motor_id [uint8_t] the ID of the motor to control speed [int16_t] the signed speed to set the motor to, in 1/10 RPM Returns [uint8_t] motor_id, [int16_t] speed
GET_SPEED	Gets the current speed of a motor. Parameters motor_id [uint8_t] the ID of the motor to query Returns [uint8_t] motor_id, [int16_t] speed
SEND_STEP	Moves a motor a specific number of steps. Direction is controlled by the sign of the speed. Parameters motor_id [uint8_t] the ID of the motor to control num_steps [uint16_t] the number of steps to move speed [int16_t] the signed target speed to move the motor at, in 1/10 RPM Returns [uint8_t] motor_id, [uint16_t] num_steps, [int16_t] speed
SEEK_POS	Moves a motor to a specific step position. The motor will be moved until GET_POS reflects the requested position. Since this command seeks a position, the sign of the speed is ignored. Parameters motor_id [uint8_t] the ID of the motor to control position [int32_t] the target position in number of steps from the motor's zero point speed [int16_t] the signed target speed to move the motor at, in 1/10 RPM Returns [uint8_t] motor_id, [int32_t] position, [int16_t] speed
GET_POS	Gets the current number of steps from the zero point for a motor. Parameters motor_id [uint8_t] the ID of the motor to query Returns [uint8_t] motor_id, [int32_t] position,
SET_GRIPPER	Sets the target position of the gripper servo. The servo is controlled such that [0, 180] maps the entire servo range, meaning that a position of 180 may correspond to 90°, 180°, 270°, etc. based on the particular servo attached. Values greater than 180 are ignored. Parameters position [uint8_t] the position of the servo, where [0, 180] maps the entire servo range Returns [uint8_t] position